Maplets for maintaining and updating a self-healing high definition map

ABSTRACT

An apparatus is onboard a vehicle and in communication with sensors onboard the vehicle. The apparatus receives a maplet request identifying a request region; and, responsive to determining that the vehicle is within the request region, processes sensor data captured by sensors to generate a multi-sensor data stream corresponding to a road network segment. The apparatus identifies an observation corresponding to a construction marker within the multi-sensor data stream; and generates a maplet based on the observation and the maplet request. Generating the maplet comprises using a predetermined data model and a predetermined data format corresponding to a construction marker observation class to encode road data corresponding to the observation corresponding to the construction marker. The apparatus provides the maplet such that a network apparatus receives the maplet. The network apparatus is configured to validate/update map data of a digital map representing the road network based on the maplet.

TECHNOLOGICAL FIELD

An example embodiment relates generally to detecting and/orcommunicating information/data regarding features of a road network. Anexample embodiment relates generally to providing a correct, accurate,and up-to-date digital map representing a road network.

BACKGROUND

Vehicles will soon be making driving decisions without humanintervention. Map information/data is an important and indispensablesource of guidance for autonomous vehicles, so it is preferable that themap information/data be correct, accurate, and up-to-date. The world isnot static. It is constantly shifting and evolving. Therefore, it ispreferred that mapping systems detect, verify, and update mappinginformation/data based on changes that are happening in the world innear real-time or real-time.

BRIEF SUMMARY OF SOME EXAMPLE EMBODIMENTS

Correct, accurate, and up-to-date map information/data is important forperforming various navigation functions by an autonomous, self-drivingvehicle, an advanced driver assistances system (ADAS), and/or a vehicleapparatus configured to assist and/or guide a human operator. Forexample, map information/data may be used to perform navigationfunctions such as localization, route determination, lane level routedetermination, lane maintenance, route guidance, lane level routeguidance, provision of traffic information/data, provision of lane leveltraffic information/data and/or the like. However, as road networks andconditions of road networks (e.g., construction, obstructions, trafficincidents, state of traffic signals, and/or the like) are constantlyshifting and evolving, it is preferred that the map information/data isregularly modified and/or updated to maintain map information/data thatis correct, accurate, and up-to-date. Preferably the mapinformation/data would be updated in at least near real time (e.g., nearreal time or real time) with respect to changes in the road network. Onestrategy for maintaining a digital map such that the mapinformation/data of the digital map is correct, accurate, and up-to-dateis to crowdsource information/data from sensors installed on vehicle inorder to timely detect changes to the road network and/or conditions ofthe road network and to determine appropriate updates for the mapinformation/data to reflect the detected changes.

Various embodiments provide methods, systems, apparatuses, and computerprogram products for updating a digital map representing a road networksuch that the map information/data of the digital map is correct,accurate, and up-to-date. For example, various embodiments providemethods, systems, apparatuses, and computer program products forcrowdsourcing road information/data such that topology of portions ofthe road network and/or changes to the road network may be efficientlyand timely identified and the map information/data of the digital mapmay be updated accordingly. In various embodiments, the roadinformation/data is generated based on sensor information/data capturedby sensors onboard a vehicle traversing at least a portion of the roadnetwork. A vehicle apparatus onboard the vehicle may process the sensorinformation/data to generate the road information/data. Variousembodiments provide for the reporting of the road information/data in apredetermined, standardized data model using predetermined, standardizeddata formats. The predetermined, standardized data model andpredetermined standardized data formats are configured for efficient useof network bandwidth for the transmitting of the road information/data.In various embodiments, the road information/data is packaged, compiled,formatted, and/or the like into a maplet. A maplet is a data structurecomprising (a) abstracted, parameterized, fused representations ofenvironment elements detected in sensor information/data captured by oneor more sensors of a vehicle apparatus and (b) a representation of thevehicle's trajectory history for a segment of a vehicle's trajectory. Inan example embodiment, the segment of the vehicle's trajectory maycorrespond to predetermined length and/or time of a single vehicleignition cycle. In various embodiments, the data structure of the mapletis a predefined and/or predetermined, standardized data structure. Invarious embodiments, the environment elements comprise a topology of asegment of the road network as indicated by segment of the vehicle'strajectory and observations corresponding to the segment of the roadnetwork such as sign faces, road surface markings, pole-like objects,construction markers, traffic signals, lane markings, driving surfaceedge (e.g., edge of the pavement comprising the driving surface), roadside barriers, and/or the like. For example, an environment element maybe a real world object in the environment of the segment of the roadnetwork and/or a property (e.g., topology) of the road network itself.

In various embodiments, a network apparatus may generate and providemaplet requests based on a management strategy. For example, the networkapparatus may determine that a request trigger has been identifiedcorresponding to a particular region of a geographic area represented bythe digital map. Responsive to determining that the request trigger hasbeen identified, the network apparatus may generate and provide arequest trigger such that vehicle apparatuses on board vehicles locatedin or near the region identified in the request (referred to as therequest region herein) may receive the maplet request. Responsive toreceiving a maplet request a vehicle apparatus may determine if thecorresponding vehicle is located within the request region and/orif/when the corresponding vehicle enters the request region. When thevehicle is within the request region, the vehicle apparatus may usesensor information/data captured by sensors onboard the vehicle togenerate an observation. The vehicle apparatus may then generate amaplet that encodes a trajectory of a corresponding vehicle and variousclasses of features within the observation. For example the mapletrequest may identify one or more classes for which road information/datashould be provided if features corresponding to the identified one ormore classes are identified within the observation. Some example classesinclude sign faces, road surface markings, pole-like objects,construction markers, traffic signals, lane markings, driving surfaceedge (e.g., edge of the pavement comprising the driving surface), androad side barriers. For example, the road information/data of the posepoints and/or GNSS points classes may provide and/or encode a trajectoryof the vehicle along a predetermined and/or predefined length of therequest region. For example, the road information/data of the signfaces, road surface markings, pole-like objects, construction markers,traffic signals, lane markings, driving surface edge (e.g., edge of thepavement comprising the driving surface), and/or road side barriersclasses may provide and/or encode road information/data regardingobservations identified within the observation.

After generating the maplet, the vehicle apparatus may provide themaplet such that the network apparatus receives the maplet. In variousembodiments, the maplet may be compressed (e.g., using a compressionalgorithm) and provided in a compressed format. The network apparatusreceives the maplet, performs any necessary decompression, and analyzesthe maplet. In various embodiments, the network apparatus may receive aplurality of maplets from a plurality of vehicle apparatuses thatcorrespond to overlapping portions of the request region. The analysisof the received maplets performed may be based on the type of therequest trigger that was identified. In various embodiments, theanalysis of the received maplets may be used to update the digital map.For example, the analysis of the received maplets may be used todetermine road network topology within the request region (e.g., toidentify road segments, lane segments, and/or portions thereof that werenot previously encoded in and/or represented by the digital map);determine whether map information/data corresponding to the requestregion is still accurate, correct, and up-to-date and/or whether the mapinformation/data should be updated to better reflect the current realworld conditions of the request region as encoded by the roadinformation/data of the maplet; and/or to determine new and/or updatedmap information/data.

In an example embodiment, the digital map may be a high definition mapthat may be used for navigation functions for an autonomous,self-driving vehicle, an advanced driver assistances system (ADAS),and/or a human operator. For example, the digital map and/or portionsthereof may be used to perform navigation functions such aslocalization, route determination, lane level route determination, lanemaintenance, route guidance, lane level route guidance, provision oftraffic information/data, provision of lane level trafficinformation/data and/or the like.

Various embodiments of the present invention provide technical solutionsto the technical problems of providing a digital map that is correct,accurate, and up-to-date such that the digital map is an effective toolfor performing navigation functions that enable navigation of a roadnetwork by an autonomous, self-driving vehicle, an advanced driverassistances system (ADAS), and/or a human operator. Various embodimentsof the present invention provide technical solutions to the technicalproblem of transmitting sufficient and rich enough road information/datafor maintaining and updating the digital map while not overwhelming thelimited bandwidth network over which the road information/data istransmitted. Various embodiments of the present invention providetechnical solutions to the technical problem of using sensorinformation/data captured by a plurality of vehicles having a variety of(possibly proprietary) sensor configurations onboard to build acoherent, self-consistent, and accurate representation of the roadnetwork (e.g., the digital map). In various embodiments, the maplets andcorresponding methods, apparatuses, systems, and/or computer programproducts provide technical solutions to these technical problems byproviding a maplet that provides road information/data in apredetermined/predefined, standardized data format using apredetermined/predefined, standardized data model and that is configuredto be an efficient information/data packet so as to reduce the bandwidthneeded to communicate the road information/data such that roadinformation/data may be automatically, efficiently, and timely providedto the network apparatus for use in maintaining and updating the digitalmap.

In an example embodiment, a vehicle apparatus receives a maplet requestidentifying a request region. The vehicle apparatus (a) is onboard avehicle, (b) comprises (i) a communication interface configured tocommunicate via at least one network, (ii) at least one processor, and(iii) at least one memory, and (c) is in communication with a pluralityof sensors onboard the vehicle. Responsive to determining that thevehicle is within the request region, the vehicle apparatus processessensor data captured by two or more sensors of the plurality of sensorsto generate a multi-sensor data stream corresponding to a segment of aroad network. The vehicle apparatus identifies one or more observationscorresponding to at least one construction marker within themulti-sensor data stream. The vehicle apparatus generates a maplet basedon the one or more observations and the maplet request. Generating themaplet comprises using a predetermined data model and a predetermineddata format corresponding to a construction marker observation class toencode road data corresponding to at least one of the one or moreobservations corresponding to that at least one construction marker. Thevehicle apparatus provides the maplet such that a network apparatusreceives the maplet. The network apparatus is configured to validate orupdate map data of a digital map of the road network based at least inpart on the maplet.

According to an aspect of the present invention, a method for providinga maplet corresponding to a construction marker is provided. In anexample embodiment, the method comprises receiving, by a vehicleapparatus, a maplet request identifying a request region. The vehicleapparatus (a) is onboard a vehicle, (b) comprises (i) a communicationinterface configured to communicate via at least one network, (ii) atleast one processor, and (iii) at least one memory, and (c) is incommunication with a plurality of sensors onboard the vehicle. Themethod further comprises, responsive to determining that the vehicle iswithin the request region, processing, by the vehicle apparatus, sensordata captured by two or more sensors of the plurality of sensors togenerate a multi-sensor data stream corresponding to a segment of a roadnetwork. The method further comprises identifying, by the vehicleapparatus, one or more observations corresponding to at least oneconstruction marker within the multi-sensor data stream. The methodfurther comprises generating, by the vehicle apparatus, a maplet basedon the one or more observations and the maplet request. Generating themaplet comprises using a predetermined data model and a predetermineddata format corresponding to a construction marker observation class toencode road data corresponding to at least one of the one or moreobservations corresponding to that at least one construction marker. Themethod further comprises providing, by the vehicle apparatus, the mapletsuch that a network apparatus receives the maplet. The network apparatusis configured to validate or update map data of a digital map of theroad network based at least in part on the maplet.

In an example embodiment, the maplet comprises a header comprising aconstruction marker flag. In an example embodiment, the predeterminedformat comprises a field configured to be populated with coordinates ofan anchor point for the at least one construction marker, the anchorpoint being a point located at a center of a top surface of theconstruction marker. In an example embodiment, the predetermined formatcomprises a field configured to be populated with a covariance matrixfor the anchor point. In an example embodiment, the predetermined formatcomprises a field configured to be populated with a timestampcorresponding to a sensor capture event whose body frame coordinatesystem instance was used to reference the coordinates of the anchorpoint. In an example embodiment, the predetermined format comprises afield configured to be populated with a type of the construction marker.In an example embodiment, the predetermined format comprises a fieldconfigured to be populated with a dominant color of the constructionmarker.

According to another aspect of the present invention, an apparatus isprovided. In an example embodiment, the apparatus comprises at least oneprocessor, a communication interface configured to communicate via atleast one network, and at least one memory storing computer programcode. The apparatus is onboard a vehicle and is in communication with aplurality of sensors onboard the vehicle. The at least one memory andthe computer program code are configured to, with the processor, causethe apparatus to at least receive a maplet request identifying a requestregion. The at least one memory and the computer program code arefurther configured to, with the processor, cause the apparatus to atleast, responsive to determining that the vehicle is within the requestregion, process sensor data captured by two or more sensors of theplurality of sensors to generate a multi-sensor data streamcorresponding to a segment of a road network. The at least one memoryand the computer program code are further configured to, with theprocessor, cause the apparatus to at least identify one or moreobservations corresponding to at least one construction marker withinthe multi-sensor data stream. The at least one memory and the computerprogram code are further configured to, with the processor, cause theapparatus to at least generate a maplet based on the one or moreobservations and the maplet request. Generating the maplet comprisesusing a predetermined data model and a predetermined data formatcorresponding to a construction marker observation class to encode roaddata corresponding to at least one of the one or more observationscorresponding to that at least one construction marker. The at least onememory and the computer program code are further configured to, with theprocessor, cause the apparatus to at least provide the maplet such thata network apparatus receives the maplet. The network apparatus isconfigured to validate or update map data of a digital map of the roadnetwork based at least in part on the maplet.

In an example embodiment, the maplet comprises a header comprising aconstruction marker flag. In an example embodiment, the predeterminedformat comprises a field configured to be populated with coordinates ofan anchor point for the at least one construction marker, the anchorpoint being a point located at a center of a top surface of theconstruction marker. In an example embodiment, the predetermined formatcomprises a field configured to be populated with a covariance matrixfor the anchor point. In an example embodiment, the predetermined formatcomprises a field configured to be populated with a timestampcorresponding to a sensor capture event whose body frame coordinatesystem instance was used to reference the coordinates of the anchorpoint. In an example embodiment, the predetermined format comprises afield configured to be populated with a type of the construction marker.In an example embodiment, the predetermined format comprises a fieldconfigured to be populated with a dominant color of the constructionmarker.

According to yet another aspect of the present invention, a computerprogram product is provided. In an example embodiment, the computerprogram product comprising at least one non-transitory computer-readablestorage medium having computer-readable program code portions storedtherein. The computer-readable program code portions comprise executableportions configured, when executed by a processor of a vehicle apparatusonboard a vehicle, to cause the vehicle apparatus to receive a mapletrequest identifying a request region. The computer-readable program codeportions further comprise executable portions configured, when executedby the processor of the vehicle apparatus, to, responsive to determiningthat the vehicle is within the request region, process sensor datacaptured by two or more sensors of the plurality of sensors to generatea multi-sensor data stream corresponding to a segment of a road network.The computer-readable program code portions further comprise executableportions configured, when executed by the processor of the vehicleapparatus identify one or more observations corresponding to at leastone construction marker within the multi-sensor data stream. Thecomputer-readable program code portions further comprise executableportions configured, when executed by the processor of the vehicleapparatus generate a maplet based on the one or more observations andthe maplet request. Generating the maplet comprises using apredetermined data model and a predetermined data format correspondingto a construction marker observation class to encode road datacorresponding to at least one of the one or more observationscorresponding to that at least one construction marker. Thecomputer-readable program code portions further comprise executableportions configured, when executed by the processor of the vehicleapparatus provide the maplet such that a network apparatus receives themaplet. The network apparatus is configured to validate or update mapdata of a digital map of the road network based at least in part on themaplet.

In an example embodiment, the maplet comprises a header comprising aconstruction marker flag. In an example embodiment, the predeterminedformat comprises a field configured to be populated with coordinates ofan anchor point for the at least one construction marker, the anchorpoint being a point located at a center of a top surface of theconstruction marker. In an example embodiment, the predetermined formatcomprises a field configured to be populated with a covariance matrixfor the anchor point. In an example embodiment, the predetermined formatcomprises a field configured to be populated with a timestampcorresponding to a sensor capture event whose body frame coordinatesystem instance was used to reference the coordinates of the anchorpoint. In an example embodiment, the predetermined format comprises afield configured to be populated with a type of the construction marker.In an example embodiment, the predetermined format comprises a fieldconfigured to be populated with a dominant color of the constructionmarker.

According to still another aspect of the present invention, an apparatusis provided. In an example embodiment, the apparatus comprises means forreceiving a maplet request identifying a request region. The apparatuscomprises means for, responsive to determining that the vehicle iswithin the request region, processing sensor data captured by two ormore sensors of the plurality of sensors to generate a multi-sensor datastream corresponding to a segment of a road network. The apparatuscomprises means for identifying one or more observations correspondingto at least one construction marker within the multi-sensor data stream.The apparatus comprises means for generating a maplet based on the oneor more observations and the maplet request. Generating the mapletcomprises using a predetermined data model and a predetermined dataformat corresponding to a construction marker observation class toencode road data corresponding to at least one of the one or moreobservations corresponding to that at least one construction marker. Theapparatus comprises providing the maplet such that a network apparatusreceives the maplet. The network apparatus is configured to validate orupdate map data of a digital map of the road network based at least inpart on the maplet.

BRIEF DESCRIPTION OF THE DRAWINGS

Having thus described certain example embodiments in general terms,reference will hereinafter be made to the accompanying drawings, whichare not necessarily drawn to scale, and wherein:

FIG. 1 is a block diagram showing an example architecture of an exampleembodiment of the present invention;

FIG. 1A is a block diagram showing another example architecture of anexample embodiment of the present invention;

FIG. 2A is a block diagram of a network apparatus that may bespecifically configured in accordance with an example embodiment;

FIG. 2B is a block diagram of a vehicle apparatus that may bespecifically configured in accordance with an example embodiment;

FIG. 2C is a block diagram of an intermediary apparatus that may bespecifically configured in accordance with an example embodiment;

FIG. 3 is a flowchart illustrating operations performed, such as by thenetwork apparatus of FIG. 2A to maintain and/or update a digital map, inaccordance with an example embodiment;

FIG. 4 is schematic diagram showing a portion of a road network, arequest region, and a buffer region about the request region, inaccordance with an example embodiment;

FIG. 5 is a flowchart illustrating operations performed, such as by thenetwork apparatus of FIG. 2A to validate map information/data of adigital map, in accordance with an example embodiment;

FIG. 6 is a flowchart illustrating operations performed, such as by thenetwork apparatus of FIG. 2A to expand a digital map, in accordance withan example embodiment;

FIG. 7 is a flowchart illustrating operations performed, such as by thenetwork apparatus of FIG. 2A to update a digital map, in accordance withan example embodiment;

FIG. 8 is a flowchart illustrating operations performed, such as by thevehicle apparatus of FIG. 2B to provide maplets in response to a mapletrequest, in accordance with an example embodiment;

FIG. 9 is a flowchart illustrating operations performed, such as by thevehicle apparatus of FIG. 2B to generate and provide a maplet, inaccordance with an example embodiment;

FIG. 10 illustrates an example of a maplet header, in accordance with anexample embodiment;

FIG. 10A illustrates an example maplet, in accordance with an exampleembodiment;

FIG. 11A illustrates a trajectory of a vehicle along a portion of a roadnetwork;

FIG. 11B illustrates an example maplet portion comprising pose pointsthat encode the trajectory of the vehicle shown in FIG. 11A, inaccordance with an example embodiment;

FIG. 12A illustrates a trajectory of a vehicle along a portion of a roadnetwork;

FIG. 12B illustrates an example maplet portion comprising GNSS pointsthat encode the trajectory of the vehicle shown in FIG. 12A, inaccordance with an example embodiment;

FIGS. 13A and 13C illustrate a front view and a top view, respectfully,of a sign identified in an observation as the vehicle traversed theportion of the road network;

FIG. 13B illustrates an example maplet portion encoding roadinformation/data representing the sign face shown in FIGS. 13A and 13C,in accordance with an example embodiment;

FIG. 14A illustrates a road marking identified in an observation as thevehicle traverse the portion of a road network;

FIG. 14B illustrates an example maplet portion encoding roadinformation/data representing the road marking shown in FIG. 14A, inaccordance with an example embodiment;

FIG. 15A illustrates a pole-like object identified in an observation asthe vehicle traverse the portion of a road network;

FIG. 15B illustrates an example maplet portion encoding roadinformation/data representing the pole-like object shown in FIG. 15A, inaccordance with an example embodiment;

FIG. 16A illustrates a construction marker identified in an observationas the vehicle traverse the portion of a road network;

FIG. 16B illustrates an example maplet portion encoding roadinformation/data representing the construction marker shown in FIG. 16A,in accordance with an example embodiment;

FIG. 17A illustrates a traffic signal identified in an observation asthe vehicle traverse the portion of a road network;

FIG. 17B illustrates an example maplet portion encoding roadinformation/data representing the traffic signal shown in FIG. 17A, inaccordance with an example embodiment;

FIG. 18A illustrates a driving surface edge identified in an observationas the vehicle traverse the portion of a road network;

FIG. 18B illustrates an example maplet portion encoding roadinformation/data representing the driving surface edge shown in FIG.18A, in accordance with an example embodiment;

FIG. 19A illustrates a road side barrier identified in an observation asthe vehicle traverse the portion of a road network;

FIG. 19B illustrates an example maplet portion encoding roadinformation/data representing the road side barrier shown in FIG. 19A,in accordance with an example embodiment;

FIG. 20A illustrates a dashed lane marking and a solid lane markingidentified in an observation as the vehicle traverse the portion of aroad network; and

FIG. 20B illustrates an example maplet portion encoding roadinformation/data representing the dashed lane marking shown in FIG. 20A,in accordance with an example embodiment.

DETAILED DESCRIPTION OF SOME EXAMPLE EMBODIMENTS

Some embodiments will now be described more fully hereinafter withreference to the accompanying drawings, in which some, but not all,embodiments of the invention are shown. Indeed, various embodiments ofthe invention may be embodied in many different forms and should not beconstrued as limited to the embodiments set forth herein; rather, theseembodiments are provided so that this disclosure will satisfy applicablelegal requirements. The term “or” (also denoted “/”) is used herein inboth the alternative and conjunctive sense, unless otherwise indicated.The terms “illustrative” and “exemplary” are used to be examples with noindication of quality level. Like reference numerals refer to likeelements throughout. As used herein, the terms “data,” “content,”“information,” and similar terms may be used interchangeably to refer todata capable of being transmitted, received and/or stored in accordancewith embodiments of the present invention. As used herein, the terms“substantially” and “approximately” refer to values that are withinmanufacturing and/or engineering guidelines, allowances, and/or limits.Thus, use of any such terms should not be taken to limit the spirit andscope of embodiments of the present invention.

Additionally, as used herein, the term ‘circuitry’ refers to (a)hardware-only circuit implementations (e.g., implementations in analogcircuitry and/or digital circuitry); (b) combinations of circuits andcomputer program product(s) comprising software and/or firmwareinstructions stored on one or more computer readable memories that worktogether to cause an apparatus to perform one or more functionsdescribed herein; and (c) circuits, such as, for example, amicroprocessor(s) or a portion of a microprocessor(s), that requiresoftware or firmware for operation even if the software or firmware isnot physically present. This definition of ‘circuitry’ applies to alluses of this term herein, including in any claims. As a further example,as used herein, the term ‘circuitry’ also includes an implementationcomprising one or more processors and/or portion(s) thereof andaccompanying software and/or firmware.

As used herein, the term “detection” denotes a simple atomic detectionof a single real world object by a single sensor at a single instant intime. As used herein, the term “observation” denotes a singlerepresentation of a single real world object as it exists at the timethe sensor information/data used to generate a corresponding maplet wascaptured, collected, and/or the like. An observation is formed and/orgenerated by fusing together two or more detections of the single realworld object made by one sensor or a plurality of sensors over thecourse of the collection and/or capturing of the sensor information/dataused to generate the corresponding maplet. As used herein, the term“feature” denotes an encoding of a single real world object that is partof and/or added to a digital map. A feature may be created by fusingtogether multiple observations of the single real world object providedby multiple maplets provided by multiple different vehicle apparatuses.

I. General Overview

Methods, apparatus, systems, and computer program products are providedin accordance with an example embodiment for maintaining and/or updatinga digital map. In various embodiments, the digital map is maintainedand/or updated such that the map information/data is correct, accurate,and up-to-date. In an example embodiment, the map information/data isautomatically updated in near real time or real time with respect tochanges in the road network represented by the digital map. In variousembodiments, the digital map is maintained and/or updated based on roadinformation/data encoded in maplets. A maplet is a data structurecomprising abstracted, parameterized, fused representations of one ormore environment elements (e.g., real world objects and/or properties ofthe road network (e.g., topology)) detected in sensor information/datacaptured by one or more sensors of a vehicle apparatus and/or onboard acorresponding vehicle. For example, a maplet is a data structure thatencodes observations created by fusing together detections correspondingto sensor information/data captured and/or collected as a vehicletraverses a portion of a road network (e.g., a segment of a vehicletrajectory). In an example embodiment, the data structure of the mapletfurther comprises a representation of the vehicle's trajectory historyfor a segment of a vehicle's trajectory. In an example embodiment, thesegment of the vehicle's trajectory may correspond to predeterminedlength and/or time of a single vehicle ignition cycle. In variousembodiments, the environment elements comprise a topology of a segmentof the road network as indicated by segment of the vehicle's trajectoryand observations corresponding to the segment of the road network suchas sign faces, road surface markings, pole-like objects, constructionmarkers, traffic signals, lane markings, driving surface edge (e.g.,edge of the pavement comprising the driving surface), road sidebarriers, and/or the like. In various embodiments, the data structure ofthe maplet is a predefined and/or predetermined, standardized datastructure. For example, the data structure of the maplet may be inaccordance with a predetermined/predefined, standardized data model andhave predetermined/predefined, standardized data formats for roadinformation/data of each trajectory type or observation class.

In an example embodiment, a network apparatus is configured toautomatically enforce and/or administrate a map management strategy. Forexample, the map management strategy may provide guidance and/or dictatehow often a region of the road network is monitored for updates and/orchanges, which observation classes of road information/data arerequested from vehicle apparatuses for a particular maplet request, whattrajectory type(s) to include in the maplet, and/or the like. Based onthe map management strategy, the network apparatus may identify arequest trigger corresponding to a request region. Responsive todetermining that a request trigger has been identified, the networkapparatus may generate and provide a corresponding maplet request suchthat plurality of vehicle apparatuses receive the maplet request. Forexample, the maplet request may be provided to vehicle apparatuses thatare located within the request region; within a predetermined,predefined, and/or configurable distance from the request region;expected to enter the request region during a predetermined and/orpredefined time window corresponding to the maplet request (e.g., basedon travel history of the vehicle apparatus, a current route of thevehicle apparatus, and/or the like); and/or the like.

A vehicle apparatus may receive a maplet request and, responsivethereto, when the vehicle is located within the request region, thevehicle apparatus may generate and provide maplets based on the mapletrequest. For example, sensors onboard the vehicle may capture sensorinformation/data as the vehicle traverses a portion of the road networkwithin the request region. For each predefined and/or predeterminedlength (e.g., 1 km, 5 km, and/or the like) and/or time (e.g., 30seconds, 1 minute, 2 minutes, 3 minutes, and/or the like) of travel ofthe vehicle along the road network within the request region, a mapletmay be generated. For example, the vehicle apparatus may fuse the sensorinformation/data captured by the sensors onboard the vehicle as thevehicle traversed the portion of the road network to form a uniformmulti-sensor information/data stream of the environment surrounding thevehicle as the vehicle traversed the portion of the road network. Forexample, the detections corresponding to sensor information/datacaptured as the vehicle traversed the portion of the road network may befused to form observations corresponding to the environment surroundingthe vehicle as the vehicle traversed the portion of the road network.The road information/data of these observations may then be encodedand/or formatted into a maplet. The multi-sensor data stream may includea trajectory of the vehicle encoded as pose points and/or GNSS points.The multi-sensor data stream may include one or more observations suchas sign faces, road surface markings, pole-like objects, constructionmarkers, traffic signals, lane markings, driving surface edge (e.g.,edge of the pavement comprising the driving surface), road sidebarriers, and/or the like. Each observation is associated with acorresponding observation class. Example observation classes includesign faces, road surface markings, pole-like objects, constructionmarkers, traffic signals, lane markings, driving surface edge (e.g.,edge of the pavement comprising the driving surface), road sidebarriers, and/or the like. The vehicle apparatus may generate a mapletencoding the trajectory of the vehicle as pose points and/or GNSSpoints. In various embodiments, the maplet may further encode roadinformation/data corresponding to one or more observations and/orobservations of one or more observation classes identified in themulti-sensor data stream. The vehicle apparatus may then provide themaplet (e.g., may transmit the maplet) such that the network apparatusreceives the maplet. In an example embodiment, the vehicle apparatus maycompress the maplet and the provided maplet may be the compressedmaplet.

The network apparatus may receive a plurality of maplets in response tothe provided maplet request. The network apparatus may analyze theplurality of maplets to maintain and/or update the digital map. Forexample, the network apparatus may analyze the plurality of maplets toidentify road segments and/or lane segments of the road network notrepresented by the digital map. The identified road segments and/or lanesegments that were not represented by the digital map may then be addedto the digital map. In another example, the network apparatus mayanalyze the plurality of maplets to determine if the mapinformation/data of the digital map is correct, accurate, and/orup-to-date. For example, the network apparatus may analyze the pluralityof maplets to determine if the road information/data provided by themaplets is in agreement with the map information/data and/or todetermine if the road information/data provided by the maplets indicatesthat there have been changes to the road network since the mapinformation/data was last updated. In another example, the networkapparatus may analyze the plurality of maplets to determine one or moreupdates to a digital map. After the digital map has been updated, thenetwork apparatus may provide the updated digital map (and/or tilesthereof) such that a plurality of vehicle apparatuses receive theupdated digital map (and/or tiles thereof) for use in performing one ormore navigation functions. For example, the network apparatus mayanalyze the plurality of maplets to generate one or more features thatmay be compared to features of the digital map and/or that may be addedto the digital map.

For example, the network apparatus may be configured to generate mapletrequests based on a map management strategy and/or request triggersgenerated based on the map management strategy; receive maplets (and/orcommunications comprising maplets) via the Internet, automotive cloud,and/or the like; analyze the maplets and update the digital map and/orportions thereof based on the road information/data provided by themaplets; and provide the updated digital map and/or one or more tiles ofthe updated digital map to one or more vehicle apparatuses. In anexample embodiment, the digital map may be a high definition map thatmay be used for navigation functions for an autonomous, self-drivingvehicle, an advanced driver assistances system (ADAS), and/or a humanoperator. For example, the digital map and/or portions thereof may beused to perform navigation functions such as localization, routedetermination, lane level route determination, lane maintenance, routeguidance, lane level route guidance, provision of trafficinformation/data, provision of lane level traffic information/dataand/or the like.

For example, a vehicle apparatus may be configured to receive a mapletrequest; when the corresponding vehicle is within the request regionidentified by the maplet request, generate maplets based on multi-sensordata streams of the surrounding of the vehicle generated based on fusingsensor information/data captured by sensors onboard the vehicle as thevehicle traverses the road network within the request region; andprovide the maplets. In various embodiments, the vehicle apparatus maybe further configured to receive an updated digital map and/or tilesthereof and use the updated digital map and/or portions thereof toperform navigation functions such as localization, route determination,lane level route determination, lane maintenance, route guidance, lanelevel route guidance, provision of traffic information/data, provisionof lane level traffic information/data and/or the like.

FIG. 1 provides an illustration of an example system that can be used inconjunction with various embodiments of the present invention. As shownin FIG. 1, the system may include one or more network apparatuses 10,one or more vehicle apparatuses 20, wherein each vehicle apparatus 20 isdisposed on and/or onboard a vehicle 5, one or more intermediaryapparatuses 30, one or more networks 50, and/or the like.

In various embodiments, the vehicle apparatus 20, may be an in vehiclenavigation system, vehicle control system, a mobile computing device, amobile data gathering platform, and/or the like. For example, a vehicleapparatus 20 may be an in vehicle navigation system mounted withinand/or be onboard a vehicle 5 such as a motor vehicle, non-motorvehicle, automobile, car, scooter, truck, van, bus, motorcycle, bicycle,Segway, golf cart, and/or the like. In an example embodiment, thevehicle apparatus 20 may be a vehicle control system configured toautonomously drive a vehicle 5, assist in control of a vehicle 5,monitor various aspects of the vehicle 5 (e.g., fault conditions, motoroil status, battery charge level, fuel tank fill level, and/or the like)and/or the like. In various embodiments, the vehicle apparatus 20 isconfigured to autonomously drive a vehicle 5 and may perform multiplefunctions that are similar to those performed by a vehicle apparatus 20configured to be an ADAS (e.g., lane keeping, lane change assistance,maintaining a lane, merging, etc.). In some embodiments, vehicleapparatus 20 may be onboard a personal vehicle, commercial vehicle,public transportation vehicle, fleet vehicle, and/or other vehicle. Invarious embodiments, the vehicle apparatus 20 may be a smartphone,tablet, personal digital assistant (PDA), personal computer, desktopcomputer, laptop, and/or other mobile computing device. In an exampleembodiment, a vehicle apparatus 20 is onboard a vehicle 5 and is used toperform one or more navigation functions corresponding to the vehicle 5traversing at least a portion of a road network.

In an example embodiment, the network apparatus 10 may be a server,group of servers, distributed computing system, and/or other computingsystem. For example, the network apparatus 10 may be in communicationwith one or more vehicle apparatuses 20, one or more intermediaryapparatuses 30, and/or the like via one or more wired or wirelessnetworks 50. In an example embodiment, an intermediary apparatus 30 mayact as an intermediary between a vehicle apparatus 20 and a networkapparatus 10. For example, in an example embodiment, an intermediaryapparatus 30 is an apparatus in communication with a proprietary network50A (e.g., an original equipment manufacturer (OEM) Cloud) such that theintermediary apparatus 30 is in communication with the vehicle apparatusvia the proprietary network 50A, as shown in FIG. 1A. For example, theintermediary apparatus 30 may be configured to receive compressedmaplets, decompress the maplets, and provide the decompressed maplets tothe network apparatus 10 via one or more wired or wireless networks 50B.For example, the compression algorithm used to compress and/ordecompress a maplet may be a proprietary compression algorithm. In anexample embodiment, the intermediary apparatus 30 communicates with thevehicle apparatus 20 via a first network (e.g., proprietary network 50A)that is a bandwidth limited network (e.g., the automotive Cloud, aproprietary Cloud, and/or the like). In an example embodiment, theintermediary apparatus 30 communicates with the network apparatus 10 viaa second network 50B that has fewer bandwidth restrictions than thefirst network. In an example embodiment, the intermediary apparatus 30is a server, group of servers, distributed computing system, and/orother computing system.

In an example embodiment, a network apparatus 10 may comprise componentssimilar to those shown in the example network apparatus 10 diagrammed inFIG. 2A. In an example embodiment, the network apparatus 10 isconfigured to generate maplet requests based on a map managementstrategy and/or request triggers generated based on the map managementstrategy; receive maplets (and/or communications comprising maplets);analyze the maplets and update the digital map and/or portions thereofbased on the road information/data provided by the maplets; and providethe updated digital map and/or one or more tiles of the updated digitalmap to one or more vehicle apparatuses, and/or the like. For example, asshown in FIG. 2A, the network apparatus 10 may comprise a processor 12,memory 14, a user interface 18, a communications interface 16, and/orother components configured to perform various operations, procedures,functions or the like described herein. In at least some exampleembodiments, the memory 14 is non-transitory.

In an example embodiment, a vehicle apparatus 20 is onboard a vehicle 5.In an example embodiment, the vehicle apparatus 20 may be configured toreceive a maplet request; when the corresponding vehicle is within therequest region identified by the maplet request, generate maplets basedon multi-sensor data streams of the surroundings of the vehiclegenerated by fusing sensor information/data captured by sensors onboardthe vehicle as the vehicle traverses the road network within the requestregion; provide the maplets; receive an updated digital map and/or tilesthereof; use the updated digital map and/or portions thereof to performnavigation functions; and/or the like. For example, the vehicleapparatus 20 may comprise and/or be in communication with one or moresensors onboard the vehicle 5 for capturing sensor information/data thatencodes information/data corresponding to a road network and/or theenvironment surrounding at least a portion of the road network. Thesensor information/data may comprise location information/dataindicating a location (e.g., geolocation such as latitude and longitudeand/or the like) of the vehicle 5 and/or vehicle apparatus 20 when thecorresponding sensor information/data was captured. For example, aninstance of location information/data may comprise a time stampindicating the time that the instance of location information/data wasgathered, collected, captured and/or the like. In an example, aninstance of location information/data may comprise a position and/orheading corresponding to a location and/or heading of the vehicle 5 atthe time the instance of location information/data was gathered,collected, captured, and/or the like. In various embodiments, a posepoint and/or a GNSS point may be an instance of locationinformation/data.

In an example embodiment, as shown in FIG. 2B, the vehicle apparatus 20may comprise a processor 22, memory 24, a communications interface 26, auser interface 28, one or more sensors 29 (e.g., one or more locationsensors and/or sensors used for localization such as a GNSS sensor; IMUsensors; camera(s); two dimensional (2D) and/or three dimensional (3D)light detection and ranging (LiDAR)(s); long, medium, and/or short rangeradio detection and ranging (RADAR); ultrasonic sensors; electromagneticsensors; (near-) infrared (IR) cameras; 3D cameras; 360° cameras; fuellevel sensors; vehicle system sensors (e.g., oil status sensors, tirepressure sensors, engine oil pressure sensors, coolant level sensors,engine/coolant temperature sensors, and/or other sensors that enable thevehicle apparatus 20 to generate an observation representing thecorresponding vehicle's 5 surroundings and/or monitor the vehicle's 5operating parameters), and/or other components configured to performvarious operations, procedures, functions or the like described herein.In at least some example embodiments, the memory 24 is non-transitory.

In an example embodiment, as shown in FIG. 2C, the intermediaryapparatus 30 may comprise a processor 32, memory 34, a communicationsinterface 36, and/or other components configured to perform variousoperations, procedures, functions or the like described herein. In atleast some example embodiments, the memory 34 is non-transitory. In anexample embodiment, the intermediary apparatus 30 acts as anintermediary between the network apparatus 10 and a vehicle apparatus20. For example, the intermediary apparatus 30 may communicate via aproprietary network 50A to provide maplet requests to and receivemaplets from a vehicle apparatus 20. The intermediary apparatus 30 maybe in communication with a network apparatus 10 via one or more wiredand/or wireless networks 50B to receive maplet request from the networkapparatus 10 and provide received (decompressed) maplets to the networkapparatus 10.

In an example embodiment, the network apparatus 10 may be incommunication with one or more of vehicle apparatuses 20, and/or one ormore intermediary apparatuses 30, via one or more wired and/or wirelessnetworks 50. For example, each of the components of the system may be inelectronic communication with, for example, one another over the same ordifferent wireless or wired networks 50 (e.g., 50A, 50B) including, forexample, a wired or wireless Personal Area Network (PAN), Local AreaNetwork (LAN), Metropolitan Area Network (MAN), Wide Area Network (WAN),cellular network, short and/or medium range communications, and/or thelike. In some embodiments, a network 50 may comprise the automotivecloud (e.g., an OEM cloud), digital transportation infrastructure (DTI),radio data system (RDS)/high definition (HD) radio or other digitalradio system, and/or the like. For example, a vehicle apparatus 20and/or intermediary apparatus 30 may be in communication with a networkapparatus 10 via the network 50. For example, a vehicle apparatus 20,and/or intermediary apparatus 30 may communicate with the networkapparatus 10 via a network, such as the Cloud. For example, the Cloudmay be a computer network that provides shared computer processingresources and data to computers and other devices connected thereto. Forexample, in an example embodiment, a vehicle apparatus 20 is incommunication with an intermediary apparatus 30 via a proprietarynetwork 50A and the intermediary apparatus 30 is in communication with anetwork apparatus 10 via another (e.g., non-proprietary) network 50B.For example, the vehicle apparatus 20 and/or intermediary apparatus 30may be configured to receive one or more map tiles of a digital mapand/or maplet requests from the network apparatus 10 or another mapservice connected via the network 50, traffic information/data (embeddedin a map tile of a digital map and/or separate therefrom), and/orprovide maplets to the network apparatus 10, and/or the like.

Certain example embodiments of the network apparatus 10, vehicleapparatus 20, and/or intermediary apparatus 30, are described in moredetail below with respect to FIGS. 2A, 2B, and 2C.

II. Example Operation

Example embodiments provide methods, apparatus, systems, computerprogram products, and/or the like for maintaining and/or updating adigital map. In various embodiments, the digital map is maintainedand/or updated (e.g., by the network apparatus 10) such that the mapinformation/data is correct, accurate, and up-to-date. In an exampleembodiment, the map information/data is automatically updated in nearreal time or real time with respect to changes in the road networkrepresented by the digital map. In various embodiments, the digital mapis maintained and/or updated by the network apparatus 10 based on roadinformation/data encoded in maplets. In various embodiments, the mapletswere generated by vehicle apparatuses 20 based on sensorinformation/data captured by sensors 29 onboard the correspondingvehicles 5. A maplet is a data structure comprising abstracted,parameterized, fused representations (e.g., observations) of one or moreenvironment elements detected in sensor information/data captured by oneor more sensors 29 of a vehicle apparatus 20 and/or onboard acorresponding vehicle 5. In an example embodiment, the data structure ofthe maplet further comprises a representation of the vehicle's 5trajectory history for a segment of a vehicle's 5 trajectory. In anexample embodiment, the segment of the vehicle's 5 trajectory maycorrespond to predetermined length and/or time of a single vehicleignition cycle. An ignition cycle is the period of time between when avehicle 5 is turned on (e.g., the ignition is initiated) and when thevehicle (e.g., the engine) is turned off. In various embodiments, theenvironment elements comprise a topology of a segment of the roadnetwork as indicated by segment of the vehicle's trajectory andobservations corresponding to the segment of the road network such assign faces, road surface markings, pole-like objects, constructionmarkers, traffic signals, lane markings, driving surface edge (e.g.,edge of the pavement comprising the driving surface), road sidebarriers, and/or the like. In various embodiments, the data structure ofthe maplet is a predefined and/or predetermined, standardized datastructure. For example, the data structure of the maplet may be inaccordance with a predetermined/predefined, standardized data model andhave predetermined/predefined, standardized data formats for eachobservation class of road information/data and/or each trajectory type(e.g., pose points, GNSS points, and/or the like).

In an example embodiment, a network apparatus 10 is configured toautomatically enforce and/or administrate a map management strategy. Forexample, the map management strategy may provide guidance and/or dictatehow often a region of the road network is monitored for updates and/orchanges, which observation classes of road information/data arerequested from vehicle apparatuses 20 for a particular maplet request,which type of trajectory (e.g., pose points, GNSS points, and/or thelike) to include in the maplet and/or the like. Based on the mapmanagement strategy, the network apparatus 10 may identify a requesttrigger corresponding to a request region. Responsive to determiningthat a request trigger has been identified, the network apparatus 10 maygenerate and provide a corresponding maplet request such that pluralityof vehicle apparatuses 20 receive the maplet request. For example, themaplet request may be provided to vehicle apparatuses 20 that arelocated within the request region; within a predetermined, predefined,and/or configurable distance from the request region; expected to enterthe request region during a predetermined and/or predefined time windowcorresponding to the maplet request (e.g., based on travel history ofthe vehicle apparatus 20, a current route of the vehicle apparatus 20,and/or the like); and/or the like.

A vehicle apparatus 20 may receive a maplet request and, responsivethereto, when the vehicle 5 is located within the request region (e.g.,as determined by the one or more location sensors 29), the vehicleapparatus 20 may generate and provide maplets based on the mapletrequest. For example, sensors 29 onboard the vehicle 5 may capturesensor information/data as the vehicle 5 traverses a portion of the roadnetwork within the request region. For each predefined and/orpredetermined length (e.g., 1 km, 5 km, and/or the like) and/or time(e.g., 30 seconds, 1 minute, 2 minutes, 3 minutes, and/or the like) oftravel of the vehicle 5 along the road network within the requestregion, the vehicle apparatus 20 may generate a maplet. The vehicleapparatus 20 may fuse the sensor information/data captured by thesensors 29 onboard the vehicle 5 as the vehicle 5 traversed the portionof the road network to form a uniform multi-sensor data stream of theenvironment surrounding the vehicle 5 as the vehicle 5 traversed theportion of the road network. The multi-sensor data stream may include atrajectory of the vehicle 5 encoded as pose points and/or GNSS points.The multi-sensor data stream may include one or more observations suchas sign faces, road surface markings, pole-like objects, constructionmarkers, traffic signals, lane markings, driving surface edge (e.g.,edge of the pavement comprising the driving surface), road sidebarriers, and/or the like. Each observation is associated with acorresponding observation class. Example observation classes includesign faces, road surface markings, pole-like objects, constructionmarkers, traffic signals, lane markings, driving surface edge (e.g.,edge of the pavement comprising the driving surface), road sidebarriers, and/or the like. The vehicle apparatus 20 may generate amaplet encoding the trajectory of the vehicle 5 as pose points, GNSSpoints, and/or the like. In various embodiments, the maplet may furtherencode road information/data corresponding to one or more observationsand/or observations of one or more observation classes identified in themulti-sensor data stream. The vehicle apparatus 20 may then provide themaplet (e.g., may transmit the maplet) such that the network apparatus10 receives the maplet. In an example embodiment, the vehicle apparatus20 may compress the maplet and the provided maplet may be the compressedmaplet.

The network apparatus 10 may receive a plurality of maplets in responseto the provided maplet request. In an example embodiment, the networkapparatus 10 receives the plurality of maplets via one or moreintermediary apparatuses 30. In an example embodiment, the intermediaryapparatus 30 may receive a compressed maplet provided by a vehicleapparatus 20, decompress the compressed maplet, and provide thedecompressed maplet such that the network apparatus 10 receives thedecompressed maplet. The network apparatus 10 may analyze the pluralityof maplets to maintain and/or update the digital map. For example, thenetwork apparatus 10 may analyze the plurality of maplets to identifyroad segments and/or lane segments of the road network not representedby the digital map. The identified road segments and/or lane segmentsthat were not represented by the digital map may then be added to thedigital map. In another example, the network apparatus 10 may analyzethe plurality of maplets to determine if the map information/data of thedigital map is correct, accurate, and/or up-to-date. For example, thenetwork apparatus may analyze the plurality of maplets to determine ifthe road information/data provided by the maplets is in agreement withthe map information/data and/or to determine if the roadinformation/data provided by the maplets indicates that there have beenchanges to the road network since the map information/data was lastupdated. In another example, the network apparatus 10 may analyze theplurality of maplets to determine one or more updates to a digital map.After the digital map has been updated, the network apparatus 10 mayprovide the updated digital map (and/or tiles thereof) such that aplurality of vehicle apparatuses 20 (e.g., possibly via one or moreintermediary apparatuses 30) receive the updated digital map (and/ortiles thereof) for use in performing one or more navigation functions.

Maintaining and/or Updating a Digital Map

FIG. 3 provides a flowchart illustrating operations performed by anetwork apparatus 10 to maintain and/or update a digital map, inaccordance with an example embodiment. Starting at block 302, a requesttrigger is identified. For example, the network apparatus 10 mayidentify a request trigger. For example, the network apparatus 10 maycomprise means, such as processor 12, memory 14, communication interface16, and/or the like, for identifying a request trigger. In an exampleembodiment, the request trigger is provided by a computing entityindependent of the network apparatus 10 (e.g., via network 50). Forexample, a vehicle apparatus 20 may provide a communication indicatingthat the map information/data of the digital map is incorrect. Forexample, a traffic management organization (e.g., department oftransportation) may provide a communication indicating one or morechanges to a road network (e.g., a roadwork/construction planannouncement and/or the like). In an example embodiment, the requesttrigger is identified based on a timer expiring. For example, a timermay indicate that a predetermined time period has elapsed since mapinformation/data corresponding to a region of a road network was lastvalidated and/or updated.

At block 304, responsive to identifying the request trigger, a mapletrequest is generated. For example, the network apparatus 10 may generatea maplet request. For example, the network apparatus 10 may comprisemeans, such as processor 12, memory 14, and/or the like for generating amaplet request. For example, the maplet request may identify a requestregion. In an example embodiment, a request region is a region of a roadnetwork for which the maplet information/data is desired. For example,road information/data corresponding to the request region is desired. Inan example embodiment, a request region may be defined using the nodesand/or road or lane segments bounding the request region, using aplurality of geolocation points defining a polygon bounding the requestregion (e.g., points located at the vertices of the polygon), using aradius and a central point to define a circle that bounds the requestregion, and/or the like. In an example embodiment, the maplet requestmay define a buffer region about the request region. In an exampleembodiment, a buffer region is a region about and/or immediatelyadjacent to and outside of the request region. For example, the bufferregion may extend a default distance out from the request region (e.g.,0.1 km, 0.25 km, 0.5 km, 1 km, 2 km, 5 km, and/or the like). In anexample embodiment, the maplet request may define the buffer regionusing the nodes and/or road or lane segments bounding the exterior ofthe bugger region, using a plurality of geolocation points defining apolygon bounding the exterior of the buffer region, using a radius and acentral point to define a circle that bounds the exterior of the bufferregion, and/or the like.

For example, FIG. 4 illustrates an example portion of a road network400. A maplet request defines a request region 402. For example, themaplet request may comprise a plurality of node and/or road/lane segmentidentifiers defining a boundary 404 of the request region 402, pointslocated at the vertices of a polygon that is the boundary 404 therequest region 402, a center point of the request region 402 and aradius that define a boundary 404 of the request region 402, and/or thelike. The maplet request defines a buffer region 406 about the requestregion 402. For example, the maplet request may comprise a plurality ofnode and/or road/lane segment identifiers defining a buffer boundary 408of the buffer region 406, points located at the vertices of a polygonthat is the buffer boundary 408 of the buffer region 406, a center pointof the request region 402 and a radius that define a buffer boundary 408of the buffer region 406, and/or the like. In an example embodiment, thebuffer boundary 408 may be positioned a default distance out from theboundary 404 of the request region 402.

In various embodiments, a maplet request may indicate one or moreobservation classes of road information/data to be included in themaplets generated in response to the maplet request. Example observationclasses of road information/data that may be included in a mapletinclude sign faces, road surface markings, pole-like objects,construction markers, traffic signals, lane markings, driving surfaceedge (e.g., edge of the pavement comprising the driving surface), roadside barriers, and/or the like. In an example embodiment, a mapletrequest may indicate that only road information/data corresponding to atrajectory (e.g., pose points, GNSS points, and/or the like) is to beincluded in the maplet. In an example embodiment, a maplet request mayindicate that road information/data corresponding to a trajectory (e.g.,pose points, GNSS points, and/or the like) is to be included in themaplet. In an example embodiment, a maplet request may indicate that themaplet should include road information/data corresponding to one or moreobservations and/or observations of one or more observation classesidentified in the multi-sensor data stream. In an example embodiment, amaplet request may indicate that the maplet should include roadinformation/data corresponding to one or more observations and/orobservations of one or more observation classes identified in themulti-sensor data stream and road information/data corresponding to atrajectory (e.g., pose points, GNSS points, and/or the like).

In an example embodiment, the maplet request may indicate a time windowduring which the maplet request is active. For example, the mapletrequest may indicate a start time and an end time defining the timewindow for which the maplet request is active. For example, vehicleapparatuses 20 traversing a portion of the road network within therequest region are to provide maplets during the time window that themaplet request is active. In another example, the maplet request mayindicate an ending time for the time window during which the mapletrequest is active and a vehicle apparatus 20 traversing a portion of theroad network within the request region is to provide maplets between thetime the maplet request was received by the vehicle apparatus 20 and theending time. The time window for which the maplet request is active maybe determined based on a goal number of maplets to be received inresponse to the maplet request.

At block 306, the maplet request is provided. For example, the networkapparatus 10 may provide (e.g., transmit) the maplet request. Forexample, the network apparatus 10 may comprise means, such as processor10, memory 14, communication interface 16, and/or the like for providingthe maplet request. In an example embodiment, the maplet request isprovided such that one or more vehicle apparatuses 20 receive the mapletrequest. In an example embodiment, an intermediary apparatus 30 mayreceive the maplet request provided by the network apparatus 10 and mayprovide the maplet request such that one or more vehicle apparatuses 20receive the maplet request.

Continuing with FIG. 3, at block 308, a plurality of maplets arereceived. For example, the network apparatus 10 may receive a pluralityof maplets in response to the maplet request. For example, the networkapparatus 10 may comprise means, such as processor 10, memory 14,communication interface 16, and/or the like for receiving maplets. In anexample embodiment, the network apparatus 10 receives maplets that havebeen decompressed by an intermediary apparatus 30. In an exampleembodiment, the network apparatus 10 may receive compressed maplets andmay decompress the maplets.

In an example embodiment, the maplet request does not include an endingtime. Rather, the network apparatus 10 may be configured to provide acancellation of the maplet request after a desired or sufficient numberof maplets are received and/or after a desired and/or sufficientcoverage of the request region is achieved. In such an exampleembodiment, at block 310, it may be determined that a sufficient numberof maplets have been received. For example, the network apparatus 10 maydetermine that a sufficient number of maplets have been received. Forexample, the network apparatus 10 may comprise means, such as processor12, memory 14, communications interface 16, and/or the like, fordetermining that a sufficient number of maplets have been received. Atblock 312, the a request cancellation message is provided such that thevehicle apparatuses 20 receive the request cancellation message and stopproviding maplets corresponding to the request region. For example, thenetwork apparatus 10 may provide the request cancellation message. Forexample, the network apparatus 10 may comprise means, such as theprocessor 12, memory 14, communication interface 16, and/or the like,for providing the request cancellation message such that the vehicleapparatuses 20 receive the request cancellation message.

At block 314, the digital map is maintained and/or updated based on thereceived plurality of maplets. For example, the map information/data ofthe digital map may be automatically validated (e.g., determined to becorrect, accurate, and/or up-to-date) based on the maplets. For example,it may be determined, based on the received plurality of maplets, thatone or more changes have occurred to the road network since the mapinformation/data was last updated and the map information is notcurrently correct, accurate and/or up-to-date and/or that the mapinformation/data should be updated. For example, updated mapinformation/data may be determined and the digital map may be updatedbased on the received plurality of maplets. For example, the mapinformation/data may be updated and/or modified to match and/or be inagreement with the road information/data provided by the receivedplurality of maplets.

In various embodiments, the road information/data of multiple mapletscorresponding to the same location may be merged. For example, if aplurality of maplets are received that report an observation of aparticular observation class at similar locations (e.g., each mapletreports an observation of the particular observation class within onemeter, five meters, and/or the like of the other maplets), it may bedetermined (e.g., by the network apparatus 10) that a real world objectand/or a feature corresponding to the particular observation class islocated at a location determined by averaging the locations reported forthe observations by the plurality maplets. The average may be a weightedaverage based, for example, on covariance matrices provided by thecorresponding maplets, a relevant accuracy or standard deviationprovided in the header of the maplet, and/or the like. The averageand/or weighted average of corresponding road information/data providedby the plurality of maplets provides merged road information/data, in anexample embodiment. For example, the merged road information/data maycomprise one or more features. Thus, merged road information/data may bedetermined based on the plurality of received maplets. In an exampleembodiment, the map information/data may be compared to the merged roadinformation/data to validate the map information/data. In an exampleembodiment, new road/lane segments may be added to the mapinformation/data based on merged road information/data. In an exampleembodiment, an update or modification of map information/data may bedetermined based on the merged road information/data.

Map Management Strategy

As noted above, the network 50 (and/or proprietary network 50A) may be abandwidth limited network. For example, network 50 (and/or proprietarynetwork 50A) is a wireless network, in various embodiments. Moreover,the constant processing of maplets corresponding to the entire roadnetwork would require a large amount of processing/computing power. Inorder to efficiently use network bandwidth and processing/computingresources, a map management strategy may be used. In an exampleembodiment, a map management strategy may be used to define requestregions, determine how often map information/data corresponding to arequest region is validated, determine when efforts will be made todiscover road and/or lane segments not represented by the digital map,and/or the like. In an example embodiment, a map management strategy maycomprise three different modes.

For example, a first mode may be a validation mode. The map managementstrategy may indicate that map information/data of each request regionbe validated using the validation mode at a validation frequency (e.g.,once an hour, twice a day, once a day, once a week, once a month, and/orthe like). In an example embodiment, each request region may be assigneda validation frequency with which the corresponding map information/datais to be validated. For example, the validation frequency of a firstrequest region may be different than the validation frequency of asecond request region, in an example embodiment. In various embodiments,the validation frequency for a first request region is determined basedon whether the previous validation cycle validated the mapinformation/data or indicated the map information/data needed to beupdated.

For example, a second mode may be a discovery mode. The map managementstrategy may use the discovery mode to identify road and/or lanesegments of the road network for which representations are not yetincorporated into the map information/data. For example, the discoverymode may be used to determine the topology of road and/or lane segmentsfor which map information/data does not yet exist in the digital map. Inan example embodiment, the discovery mode may be activated when avalidation mode indicates that the map information/data corresponding toa request region is validated (e.g., an update does not need to beperformed for the request region at this time). For example, if mapinformation/data of a first request region is validated such that anupdate does not need to be performed for the first request region atthis time, the discovery mode may be triggered with respect to a secondrequest region. In an example embodiment, the discovery mode may beactivated when processing resources are available (e.g., not being usedby the validation mode or update mode operations).

For example, a third mode may be an update mode. In an exampleembodiment, the update mode may be activated for a request region inresponse to a validation mode operation determining that mapinformation/data corresponding to a request region should be updated(e.g., an inconsistency between the (merged) road information/data ofreceived maplets and the corresponding map information/data isidentified). In an example embodiment, the update mode may be activatedfor a request region in response to one or more new road and/or lanesegments being identified by discovery mode operations. In variousembodiments, the update mode is used to update and/or modify mapinformation/data of a digital map based on (merged) roadinformation/data.

Thus, a map management strategy may provide for efficient use ofresources (e.g., network bandwidth, processing/computing resources) andautomated timely updating of a digital map. In an example embodiment,the map management plan may cause simultaneous operations for multipleregions. For example, the map management strategy may cause simultaneousoperating of a validation mode for request regions 1 and 2, update modefor request regions 3, 4, and 5, and discovery mode for request region6. In various embodiments, the network apparatus 10 may enforce and/orimplement the map management strategy. For example, the networkapparatus 10 may identify request triggers based on the map managementstrategy.

Exemplary Validation Mode Operation

FIG. 5 provides a flowchart illustrating operations of a validationmode, according to an example embodiment of the present invention.Starting at block 502, a validation request trigger is identified basedon the map management strategy. For example, the network apparatus 10may identify a validation request trigger for a request region based onthe map management strategy. For example, the network apparatus 10 maycomprise means, such as processor 12, memory 14, communication interface16, and/or the like, for identifying a validation request trigger for arequest region. In an example embodiment, the validation request triggerfor the request region is provided by a computing entity independent ofthe network apparatus 10 (e.g., via network 50). For example, one ormore vehicle apparatuses 20 may provide communications indicating thatthe map information/data of the digital map is incorrect which may,according to the rules/guidelines of the map management strategy, causea validation request trigger to be identified for a correspondingrequest region. For example, a traffic management organization (e.g.,department of transportation) may provide a communication indicating oneor more changes to a road network (e.g., a roadwork/construction planannouncement and/or the like) which may, according to therules/guidelines of the map management strategy, cause a validationrequest trigger to be identified for a corresponding request region. Inan example embodiment, the validation request trigger for the requestregion is identified based the validation frequency for the requestregion. For example, a timer may indicate that a predetermined timeperiod (e.g., determined based on the validation frequency for therequest region) has elapsed since map information/data corresponding tothe request region of a road network was last validated and/or updated.

At block 504, a validation maplet request is generated and provided forthe request region. For example, a network apparatus 10 may generate andprovide a validation maplet request corresponding to the request region.For example, a network apparatus 10 may comprise means, such asprocessor 12, memory 14, communication interface 16, and/or the like forgenerating and providing a validation maplet request corresponding tothe request region. In various embodiments, the validation mapletrequest corresponding to the request region is generated and providedresponsive to the identification of the validation request triggercorresponding to the request region.

In various embodiments, the validation maplet request may identify arequest region. In an example embodiment, a request region is a regionof a road network for which the maplet information/data is desired. Forexample, road information/data corresponding to the request region isdesired. In an example embodiment, a request region may be defined usingthe nodes and/or road or lane segments bounding the request region,using a plurality of geolocation points defining a polygon bounding therequest region (e.g., points located at the vertices of the polygon),using a radius and a central point to define a circle that bounds therequest region, and/or the like. In an example embodiment, the mapletrequest may define a buffer region about the request region. In anexample embodiment, a buffer region is a region about and/or immediatelyadjacent to and outside of the request region. For example, the bufferregion may extend a default distance out from the request region (e.g.,0.1 km, 0.25 km, 0.5 km, 1 km, 2 km, 5 km, and/or the like). In anexample embodiment, the maplet request may define the buffer regionusing the nodes and/or road or lane segments bounding the exterior ofthe bugger region, using a plurality of geolocation points defining apolygon bounding the exterior of the buffer region, using a radius and acentral point to define a circle that bounds the exterior of the bufferregion, and/or the like.

In various embodiments, a validation maplet request may indicate one ormore observation classes of road information/data to be included in themaplets generated in response to the validation maplet request. Forexample, a maplet may comprise road information/data providing atrajectory of a vehicle 5 through the request region (e.g., pose pointsand/or GNSS points). For example, a maplet may comprise roadinformation/data corresponding to observations of one or moreobservation classes that were identified in the multi-sensor data streamas the vehicle 5 traveled through the request region. The roadinformation/data corresponding to observations may be provided as partof the maplet in addition to the maplet comprising the roadinformation/data providing the trajectory. Example observation classesfor which corresponding observations may be included in a maplet includesign faces, road surface markings, pole-like objects, constructionmarkers, traffic signals, lane markings, driving surface edge (e.g.,edge of the pavement comprising the driving surface), road sidebarriers, and/or the like. In an example embodiment, a validation mapletrequest may indicate that only road information/data corresponding to atrajectory (e.g., pose points, GNSS points, and/or the like) is to beincluded in the maplet. In an example embodiment, a validation mapletrequest may indicate that either and/or both pose point and/or GNSSpoint road information/data is to be included in the maplet. In anexample embodiment, a validation maplet request may indicate that themaplet should include road information/data corresponding to one or moreobservations and/or observations of one or more observation classesidentified in the multi-sensor data stream. In an example embodiment, avalidation maplet request may indicate that the maplet should includeroad information/data corresponding to one or more observations and/orobservations of one or more observation classes identified in theobservation and road information/data corresponding to a trajectory(pose point, GNSS point, and/or the like road information/data) of acorresponding vehicle 5 through the request region.

In an example embodiment, the validation maplet request may indicate atime window during which the validation maplet request is active. Forexample, the validation maplet request may indicate a start time and anend time defining the time window for which the maplet request isactive. For example, vehicle apparatuses 20 traversing a portion of theroad network within the request region are to provide maplets during thetime window that the validation maplet request is active. In anotherexample, the validation maplet request may indicate an ending time forthe time window during which the maplet request is active and a vehicleapparatus 20 traversing a portion of the road network within the requestregion is to provide maplets between the time the validation mapletrequest was received by the vehicle apparatus 20 and the ending time. Invarious embodiments, a goal number of maplets to be received in responseto a validation maplet request may be fewer than the goal number ofmaplets to be received in response to an update maplet request. The timewindow for which the validation maplet request is active may bedetermined based on the goal number of maplets to be received inresponse to the validation maplet request.

In an example embodiment, the validation maplet request is provided suchthat one or more vehicle apparatuses 20 receive the validation mapletrequest. For example, after the validation maplet request is generated,the validation maplet request may be provided such that a plurality ofvehicle apparatuses 20 receive the validation maplet request. In anexample embodiment, an intermediary apparatus 30 may receive thevalidation maplet request provided by the network apparatus 10 and mayprovide the validation maplet request such that one or more vehicleapparatuses 20 receive the validation maplet request.

At block 506, a plurality of maplets are received. For example, thenetwork apparatus 10 may receive a plurality of maplets in response tothe maplet request. For example, the network apparatus 10 may comprisemeans, such as processor 12, memory 14, communication interface 16,and/or the like for receiving maplets. For example, a plurality ofvehicle apparatuses 20 may each provide one or more maplets such thatthe network apparatus 10 receives a plurality of maplets.

At block 508, the plurality of maplets may be decompressed. For example,in an example embodiment, the network apparatus 10 may decompress theplurality of maplets. For example, the network apparatus 10 may comprisemeans, such as processor 12, memory 14, and/or the like, fordecompressing the plurality of maplets. In an example embodiment, thenetwork apparatus 10 receives maplets that have already beendecompressed by an intermediary apparatus 30.

At block 510, road information/data from two or more maplets may bemerged. For example, the topology of a road and/or lane segmentindicated by road information/data corresponding to a trajectory (e.g.,pose points, GNSS points, and/or the like) may be merged to determine atopology of the corresponding road and/or lane segment indicated by theroad information/data of the two or more maplets. In an exampleembodiment, the topology of a road and/or lane segment may be indicatedby a center line of a road and/or lane segment, a right side linedefining a right side boundary of a road and/or lane segment, a leftside line defining a left side boundary of a road and/or lane segment,and/or the like. For example, road information/data from two or moremaplets corresponding to a same observation may be merged. In an exampleembodiment, it may be determined if observations described by roadinformation/data of two or more maplets correspond to the same realworld object and/or feature based on observation identifiers provided byeach maplet, locations of the observations, the observation classcorresponding to the observations, similarity of dimensions of theobservations, description of the observations (e.g., shape, color, type,and/or the like), and/or the like. For example, if a first mapletprovides road information/data regarding a first observation ofobservation class sign face and of type stop sign located at a firstposition and a second maplet provides road information/data regarding asecond observation of observation class sign face and of type speedlimit located at a second position that is near the first position, itmay be determined that the first and second observations do notcorrespond to the same real world object or feature/element. Thus, theroad information/data regarding the first and second observations willnot be merged. In another example, if a first maplet provides roadinformation/data regarding a first observation of observation class signface and of type stop sign located at a first position and a thirdmaplet provides road information/data regarding a third observation ofobservation class sign face and of type stop sign located at a thirdposition that is near the first position, it may be determined that thefirst and third observations correspond to the same real world object orfeature/element. Thus, the road information/data regarding the first andthird observations may be merged.

In various embodiments, merged road information/data may be generatedfrom road information/data provided by two or more maplets by averagingcorresponding fields of the road information/data. For example, usingthe above stop sign example, the location of the stop sign may bedetermined by averaging the first position and the third position. In anexample embodiment, merged road information/data may be generated fromtwo more maplets by taking a weighted average of corresponding fields ofthe road information/data. For example, the first and third positionsmay be weighted based on the accuracy of each of the first and thirdpositions. For example, a weighted average may be determined based oncovariance matrices provided by the corresponding maplets, a relevantaccuracy or standard deviation provided in the headers of thecorresponding maplets, and/or the like. Various other methods of mergingroad information/data provided by two or more maplets may be used invarious embodiments to generate merged road information/data.

At block 512, it may be determined if the (merged) road information/datacorresponding to the received plurality of maplets validate the currentmap information/data. For example, it may be determined if the (merged)road information/data corresponding to the received plurality of mapletsis in agreement with the map information/data of the digital map or ifthe (merged) road information/data corresponding to the receivedplurality of maplets indicate one or more changes to the road networkcompared to the representation of the road network provided by thedigital map. For example, it may be determined if one or more changes tothe road network have occurred since the map information/data was lastupdated based on the (merged) road information/data corresponding to thereceived plurality of maplets. For example, it may be determined, basedon the (merged) road information/data corresponding to the receivedplurality of maplets, if the current map information/data is correct,accurate, and/or up-to-date. For example, the network apparatus 10 maydetermine if the (merged) road information/data corresponding to thereceived plurality of maplets validates the current mapinformation/data. For example, the network apparatus 10 may comprisemeans, such as the processor 12, memory 14, and/or the like, fordetermining if the (merged) road information/data corresponding to thereceived plurality of maplets validates the current mapinformation/data. In various embodiments, the determination may be madeby comparing the (merged) road information/data corresponding to thereceived plurality of maplets to the current map information/data todetermine whether all corresponding elements of the (merged) roadinformation/data and the current map information/data match andtherefore the map information/data corresponding to the request regionis validated. In various embodiments, the determination may be may madeby comparing the (merged) road information/data corresponding toreceived plurality of maplets to the current map information/data todetermine whether (a) one or more elements of the (merged) roadinformation/data do not match the corresponding element of the currentmap information/data, (b) one or more elements of the (merged) roadinformation/data does not have a corresponding element in the mapinformation/data, and/or (c) one or more elements of the current mapinformation/data does not have a corresponding element of the (merged)road information/data and the therefore the map information/datacorresponding to the request region is not validated and/or should beupdated.

If it is determined at block 512 that the (merged) road information/datacorresponding to the received plurality of maplets does not validate thecurrent map information/data and/or indicates that the current mapinformation/data should be updated, the process continues to block 514.At block 514, an update request trigger corresponding to the requestregion is generated and/or the identification of an update requesttrigger corresponding to the request region is caused. For example, thenetwork apparatus 10 may generate an update request triggercorresponding to the request region and/or cause an update requesttrigger corresponding to the request region to be identified. Forexample, the network apparatus 10 may comprise means, such as processor12, memory 14, and/or the like, for generating an update request triggercorresponding to the request region and/or causing the identification ofan update request trigger corresponding to the request region. Forexample, the request region of the update request trigger is the same asthe request region of the validation maplet request.

If it is determined at block 512 that the (merged) road information/datacorresponding to the received plurality of maplets does validate thecurrent map information/data, the process continues to block 516. Atblock 516, a validation timer may be reset in accordance with thevalidation frequency corresponding to the request region. For example,the network apparatus 10 may reset a validation timer for the requestregion in accordance with the validation frequency corresponding to therequest region. For example, the network apparatus 10 may comprisemeans, such as processor 12, memory 14, and/or the like, for resetting avalidation timer for the request region in accordance with thevalidation frequency corresponding to the request region. The resettingof the validation timer may cause the identification of a validationrequest trigger for the request region at some point in the future inaccordance with the validation frequency corresponding to the requestregion and/or the map management strategy.

Exemplary Discovery Mode Operation

FIG. 6 provides a flowchart illustrating operations of a discovery mode,according to an example embodiment of the present invention. Starting atblock 602, a discovery request trigger is identified based on the mapmanagement strategy. For example, the network apparatus 10 may identifya discovery request trigger for a request region based on the mapmanagement strategy. For example, the network apparatus 10 may comprisemeans, such as processor 12, memory 14, communication interface 16,and/or the like, for identifying a discovery request trigger for arequest region. In an example embodiment, the discovery request triggerfor the request region is provided by a computing entity independent ofthe network apparatus 10 (e.g., via network 50). For example, one ormore vehicle apparatuses 20 may provide a communication indicating thatthe vehicle apparatuses 20 are traveling along a road and/or lanesegment that is not represented by map information/data of the digitalmap which may, according to the rules/guidelines of the map managementstrategy, cause a discovery request trigger to be identified for acorresponding request region. For example, a traffic managementorganization (e.g., department of transportation) may provide acommunication indicating one or more changes and/or (planned) additionsto a road network (e.g., a roadwork/construction plan announcementand/or the like) which may, according to the rules/guidelines of the mapmanagement strategy, cause a discovery request trigger to be identifiedfor a corresponding request region. In an example embodiment, thediscovery request trigger for the request region is identified based onavailability of computing/processing resources, and/or the like. In anexample embodiment, a request region for a discovery request trigger maybe a region outside of (but adjacent, adjoining, and/or abutting) theroad network represented by the digital map and/or a region where thedigital map includes a sparse representation of the road network withinthe request region (e.g., major thoroughfares may be represented in thecurrent digital map, but smaller roads may be not represented by thecurrent digital map).

At block 604, a discovery maplet request is generated and provided forthe request region. For example, a network apparatus 10 may generate andprovide a discovery maplet request corresponding to the request region.For example, a network apparatus 10 may comprise means, such asprocessor 12, memory 14, communication interface 16, and/or the like forgenerating and providing a discovery maplet request corresponding to therequest region. In various embodiments, the discovery maplet requestcorresponding to the request region is generated and provided responsiveto the identification of the discovery request trigger corresponding tothe request region.

In various embodiments, the discovery maplet request may identify arequest region. In an example embodiment, a request region is a regionof a road network (and/or a region adjacent, adjoining, and/or abuttingthe road network as represented by digital map) for which the mapletinformation/data is desired. For example, road information/datacorresponding to the request region is desired. In an exampleembodiment, a request region may be defined using the nodes and/or roador lane segments bounding the request region, using a plurality ofgeolocation points defining a polygon bounding the request region (e.g.,points located at the vertices of the polygon), using a radius and acentral point to define a circle that bounds the request region, and/orthe like. In an example embodiment, the maplet request may define abuffer region about the request region. In an example embodiment, abuffer region is a region about and/or immediately adjacent to andoutside of the request region. For example, the buffer region may extenda default distance out from the request region (e.g., 0.1 km, 0.25 km,0.5 km, 1 km, 2 km, 5 km, and/or the like). In an example embodiment,the maplet request may define the buffer region using the nodes and/orroad or lane segments bounding the exterior of the bugger region, usinga plurality of geolocation points defining a polygon bounding theexterior of the buffer region, using a radius and a central point todefine a circle that bounds the exterior of the buffer region, and/orthe like.

In various embodiments, a discovery maplet request may indicate thatonly road information/data corresponding to a trajectory of a vehicle 5through at least a portion of the request region is to be included inthe maplets generated in response to the discovery maplet request. Forexample, the discovery maplet request may indicate that the maplet isonly to include pose point road information/data in addition to themaplet header information/data. For example, the discovery mapletrequest may indicate that the maplet is only to include pose point roadinformation/data and/or GNSS point road information/data in addition tothe maplet header information/data. For example, the discovery mode maybe configured to determine a topology of one or more road and/or lanesegments within the request region and therefore only roadinformation/data corresponding to the trajectory of a vehicle 5 throughat least a portion of the request region is desired.

In an example embodiment, the discovery maplet request may indicate atime window during which the discovery maplet request is active. Forexample, the discovery maplet request may indicate a start time and anend time defining the time window for which the maplet request isactive. For example, vehicle apparatuses 20 traversing a portion of theroad network within the request region are to provide maplets during thetime window that the discovery maplet request is active. In anotherexample, the discovery maplet request may indicate an ending time forthe time window during which the maplet request is active and a vehicleapparatus 20 traversing a portion of the road network within the requestregion is to provide maplets between the time the discovery mapletrequest was received by the vehicle apparatus 20 and the ending time. Invarious embodiments, a goal number of maplets to be received in responseto a discovery maplet request may be fewer than the goal number ofmaplets to be received in response to an update maplet request. The timewindow for which the discovery maplet request is active may bedetermined based on the goal number of maplets to be received inresponse to the discovery maplet request.

In an example embodiment, the discovery maplet request is provided suchthat one or more vehicle apparatuses 20 receive the discovery mapletrequest. For example, after the discovery maplet request is generated,the discovery maplet request may be provided such that a plurality ofvehicle apparatuses 20 receive the discovery maplet request. In anexample embodiment, an intermediary apparatus 30 may receive thediscovery maplet request provided by the network apparatus 10 and mayprovide the discovery maplet request such that one or more vehicleapparatuses 20 receive the discovery maplet request.

At block 606, a plurality of maplets are received. For example, thenetwork apparatus 10 may receive a plurality of maplets provided byvehicle apparatuses 20 in response to the discovery maplet request. Forexample, the network apparatus 10 may comprise means, such as processor12, memory 14, communication interface 16, and/or the like for receivingmaplets provided by vehicle apparatuses 20 in response to the discoverymaplet request. For example, a plurality of vehicle apparatuses 20 mayeach provide one or more maplets such that the network apparatus 10receives a plurality of maplets.

At block 608, the plurality of maplets may be decompressed. For example,in an example embodiment, the network apparatus 10 may decompress theplurality of maplets. For example, the network apparatus 10 may comprisemeans, such as processor 12, memory 14, and/or the like, fordecompressing the plurality of maplets. In an example embodiment, thenetwork apparatus 10 receives maplets that have already beendecompressed by an intermediary apparatus 30.

At block 610, road information/data from two or more maplets may bemerged. For example, the topology of a road and/or lane segmentindicated by road information/data corresponding to a trajectory (e.g.,pose points, GNSS points, and/or the like) may be merged to determine atopology of the corresponding one or more road and/or lane segmentsindicated by the trajectory road information/data of the two or moremaplets. In an example embodiment, the topology of a road and/or lanesegment may be indicated by a center line of a road and/or lane segment,a right side line defining a right side boundary of a road and/or lanesegment, a left side line defining a left side boundary of a road and/orlane segment, and/or the like. In an example embodiment, a curve may befit to the pose points and/or GNSS points provided by the trajectoryroad information/data of each maplet. It may be determined which curvesare expected to correspond to the same road and/or lane segment if thecurves satisfy a distance threshold requirements and/or the like. Forexample, if two curves indicate that two vehicles 5 traveled in the samedirection less than a threshold distance from one another (e.g., lessthan five meters, two meters, one meter, and/or the like) it may bedetermined that two vehicles 5 were traveling along the same road and/orlane segment and the curves may be merged.

In various embodiments, merged road information/data may be generatedfrom road information/data provided by two or more maplets by averagingcorresponding fields of the road information/data. For example, if aplurality of curves are determined to correspond to the same road and/orlane segment, an average curve and/or weighted average curve may bedetermined. For example, if a plurality of curves are determined tocorrespond to the same road and/or lane segment, the curves may be fitto statistical distribution (e.g., a Gaussian distribution, chi-squareddistribution, and/or the like). In various embodiments, the curves fitto the pose points and/or GNSS points of various maplets may be averagedand/or fit to a statistical distribution based on a weight associatedwith each curve and determined based on covariance matrices provided bythe corresponding maplets, a relevant accuracy or standard deviationprovided in the headers of the corresponding maplets, and/or the like.Various other methods of merging road information/data provided by twoor more maplets may be used in various embodiments to generate mergedroad information/data that defines the topology of one or more roadand/or lane segments within the request region.

At block 612, driving patterns within the request region are determined.In various embodiments, the driving patterns may define the topology ofone or more road and/or lane segments within the request region. Forexample, if a plurality of curves are determined to correspond to thesame road and/or lane segment, an average curve and/or weighted averagecurve may be used to define the center line of a road and/or lanesegment. For example, if a plurality of curves are determined tocorrespond to the same road and/or lane segment, the curve furthest tothe right hand side of the road and/or lane segment may be determined todefine the right side line for the road and/or lane segment. Forexample, if a plurality of curves are determined to correspond to thesame road and/or lane segment, the curve furthest to the left hand sideof the road and/or lane segment may be determined to define the leftside line for the road and/or lane segment. In another example, thecurves may be fit to statistical distribution (e.g., a Gaussiandistribution, chi-squared distribution, and/or the like) and the centerline may be taken as the average point along the distribution, the rightand left side lines may be taken as a particular number of standarddeviations for the statistical distribution from the average point alongthe distribution, and/or the like. In various embodiments, the curvesfit to the pose points and/or GNSS points of various maplets may beaveraged and/or fit to a statistical distribution based on a weightassociated with each curve and determined based on covariance matricesprovided by the corresponding maplets, a relevant accuracy or standarddeviation provided in the headers of the corresponding maplets, and/orthe like. Various other methods of determining the driving patterns ofvehicle 5 traveling through the request region and/or the topology ofroad and/or lane segments within the request region may be determinedbased on (merged) road information/data provided by two or more mapletsand corresponding to trajectories of vehicles 5 through at least aportion of the request region.

At block 612, an update request trigger corresponding to the requestregion is generated and/or the identification of an update requesttrigger corresponding to the request region is caused. For example, thenetwork apparatus 10 may generate an update request triggercorresponding to the request region and/or cause an update requesttrigger corresponding to the request region to be identified. Forexample, the network apparatus 10 may comprise means, such as processor12, memory 14, and/or the like, for generating an update request triggercorresponding to the request region and/or causing the identification ofan update request trigger corresponding to the request region. Forexample, the request region of the update request trigger is the same asthe request region of the discovery maplet request. For example, theupdate request trigger may cause maplets comprising richer roadinformation/data (e.g., including road information/data corresponding tovarious observations within the request region) corresponding to therequest region to be received such that map information/data for therequest region (e.g., the road and/or lane segments identified in therequest region during the discovery mode operation) may be more fullyfleshed out.

Exemplary Update Mode Operation

FIG. 7 provides a flowchart illustrating operations of an update mode,according to an example embodiment of the present invention. Starting atblock 702, an update request trigger is identified based on the mapmanagement strategy. For example, the network apparatus 10 may identifyan update request trigger for a request region based on the mapmanagement strategy. For example, the network apparatus 10 may comprisemeans, such as processor 12, memory 14, communication interface 16,and/or the like, for identifying an update request trigger for a requestregion. In an example embodiment, the update request trigger for therequest region is provided by a computing entity independent of thenetwork apparatus 10 (e.g., via network 50). For example, one or morevehicle apparatuses 20 may provide a communication indicating that themap information/data of the digital map is incorrect which may,according to the rules/guidelines of the map management strategy, causean update request trigger to be identified for a corresponding requestregion. For example, a traffic management organization (e.g., departmentof transportation) may provide a communication indicating one or morechanges to a road network (e.g., a roadwork/construction planannouncement and/or the like) which may, according to therules/guidelines of the map management strategy, cause an update requesttrigger to be identified for a corresponding request region. In anexample embodiment, the update request trigger for the request region isidentified based on a validation mode and/or discovery mode operationfor the request region. For example, an update request trigger may beidentified responsive to the results of analyzing maplets provided byvehicle apparatuses 20 in response to a validation or discovery mapletrequest.

At block 704, an update maplet request is generated and provided for therequest region. For example, a network apparatus 10 may generate andprovide an update maplet request corresponding to the request region.For example, a network apparatus 10 may comprise means, such asprocessor 12, memory 14, communication interface 16, and/or the like forgenerating and providing an update maplet request corresponding to therequest region. In various embodiments, the update maplet requestcorresponding to the request region is generated and provided responsiveto the identification of the update request trigger corresponding to therequest region.

In various embodiments, the update maplet request may identify therequest region. In an example embodiment, a request region is a regionof a road network for which the maplet information/data is desired. Forexample, road information/data corresponding to the request region isdesired. In an example embodiment, a request region may be defined usingthe nodes and/or road or lane segments bounding the request region,using a plurality of geolocation points defining a polygon bounding therequest region (e.g., points located at the vertices of the polygon),using a radius and a central point to define a circle that bounds therequest region, and/or the like. In an example embodiment, the mapletrequest may define a buffer region about the request region. In anexample embodiment, a buffer region is a region about and/or immediatelyadjacent to and outside of the request region. For example, the bufferregion may extend a default distance out from the request region (e.g.,0.1 km, 0.25 km, 0.5 km, 1 km, 2 km, 5 km, and/or the like). In anexample embodiment, the maplet request may define the buffer regionusing the nodes and/or road or lane segments bounding the exterior ofthe bugger region, using a plurality of geolocation points defining apolygon bounding the exterior of the buffer region, using a radius and acentral point to define a circle that bounds the exterior of the bufferregion, and/or the like.

In various embodiments, an update maplet request may indicate one ormore observation classes of road information/data to be included in themaplets generated in response to the update maplet request. For example,a maplet may comprise road information/data providing a trajectory of avehicle 5 through the request region (e.g., pose points and/or GNSSpoints). For example, a maplet may comprise road information/datacorresponding to observations of one or more observation classes thatwere identified in the multi-sensor data stream as the vehicle 5traveled through the request region. The road information/datacorresponding to observations may be provided as part of the maplet inaddition to the road information/data providing the trajectory. Exampleobservation classes for which corresponding observations may be includedin a maplet include sign faces, road surface markings, pole-likeobjects, construction markers, traffic signals, lane markings, drivingsurface edge (e.g., edge of the pavement comprising the drivingsurface), road side barriers, and/or the like. In an example embodiment,an update maplet request may indicate that only road information/datacorresponding to a trajectory (e.g., pose points, GNSS points, and/orthe like) is to be included in the maplet. In an example embodiment, amaplet request may indicate that either and/or both pose point and/orGNSS point road information/data is to be included in the maplet. In anexample embodiment, an update maplet request may indicate that themaplet provided in response thereto should include road information/datacorresponding to one or more observations and/or observations of one ormore observation classes identified in the multi-sensor data stream. Inan example embodiment, an update maplet request may indicate that amaplet provided in response thereto should include road information/datacorresponding to one or more observations and/or observations of one ormore observation classes identified in the multi-sensor data stream androad information/data corresponding to a trajectory (pose point, GNSSpoint, and/or the like road information/data) of a corresponding vehicle5 through the request region.

For example, if operation of a validation mode indicates that there areconstruction markers in the request region that are not included in thecurrent digital map, the update maplet request may indicate that roadinformation/data corresponding to observations corresponding to theconstruction marker observation class should be provided in the mapletsprovided in response to the update maplet request. In an exampleembodiment, if operation of the validation mode indicated that theconstruction markers were the only change to the road network within therequest region (since the last update of the digital mapinformation/data), the update maplet request may indicate that onlymaplets comprising road information/data corresponding to observationscorresponding to the observation class construction markers are to beprovided and that the maplets should only include road information/datacorresponding to vehicle trajectories (e.g., pose points, GNSS points,and/or the like) and the road information/data corresponding toobservations corresponding to the observation class constructionmarkers. Thus, the update maplet request may indicate particularobservation classes for which road information/data is desired. Thedesired road information/data may be determined based on operation of avalidation mode for the request region. Thus, the bandwidth used for thevehicle apparatuses 20 to provide the requested maplets and theprocessing/computing resources needed to analyze the maplets may bereduced and/or minimized.

In an example embodiment, the update maplet request may indicate a timewindow during which the update maplet request is active. For example,the update maplet request may indicate a start time and an end timedefining the time window for which the maplet request is active. Forexample, vehicle apparatuses 20 traversing a portion of the road networkwithin the request region are to provide maplets during the time windowthat the update maplet request is active. In another example, the updatemaplet request may indicate an ending time for the time window duringwhich the maplet request is active and a vehicle apparatus 20 traversinga portion of the road network within the request region is to providemaplets between the time the update maplet request was received by thevehicle apparatus 20 and the ending time. In various embodiments, a goalnumber of maplets to be received in response to an update maplet requestmay be larger than the goal number of maplets to be received in responseto a validation or discovery maplet request. The time window for whichthe update maplet request is active may be determined based on the goalnumber of maplets to be received in response to the update mapletrequest.

In an example embodiment, the update maplet request is provided suchthat one or more vehicle apparatuses 20 receive the update mapletrequest. For example, after the update maplet request is generated, theupdate maplet request may be provided such that a plurality of vehicleapparatuses 20 receive the update maplet request. In an exampleembodiment, an intermediary apparatus 30 may receive the update mapletrequest provided by the network apparatus 10 and may provide the updatemaplet request such that one or more vehicle apparatuses 20 receive theupdate maplet request.

At block 706, a plurality of maplets are received. For example, thenetwork apparatus 10 may receive a plurality of maplets provided byvehicle apparatuses 20 in response to the update maplet request. Forexample, the network apparatus 10 may comprise means, such as processor12, memory 14, communication interface 16, and/or the like for receivingmaplets provided by vehicle apparatuses 20 in response to the updatemaplet request. For example, a plurality of vehicle apparatuses 20 mayeach provide one or more maplets such that the network apparatus 10receives a plurality of maplets.

At block 708, the plurality of maplets may be decompressed. For example,in an example embodiment, the network apparatus 10 may decompress theplurality of maplets. For example, the network apparatus 10 may comprisemeans, such as processor 12, memory 14, and/or the like, fordecompressing the plurality of maplets. In an example embodiment, thenetwork apparatus 10 receives maplets that have already beendecompressed by an intermediary apparatus 30.

At block 710, road information/data from two or more maplets may bemerged. For example, the topology of a road and/or lane segmentindicated by road information/data corresponding to a trajectory (e.g.,pose points, GNSS points, and/or the like) may be merged to determine atopology of the corresponding road and/or lane segment indicated by theroad information/data of the two or more maplets. In an exampleembodiment, the topology of a road and/or lane segment may be indicatedby a center line of a road and/or lane segment, a right side linedefining a right side boundary of a road and/or lane segment, a leftside line defining a left side boundary of a road and/or lane segment,and/or the like. For example, road information/data from two or moremaplets corresponding to a same real world object and/or feature/elementmay be merged. In an example embodiment, it may be determined ifobservations described by road information/data of two or more mapletscorrespond to the same real world object and/or feature/element based onobservation identifiers provided by each maplet, locations of theobservations, the observation class corresponding to the observations,similarity of dimensions of the observations, description of theobservations (e.g., shape, color, type, and/or the like), and/or thelike. For example, if a first maplet provides road information/dataregarding a first observation of observation class sign face and of typestop sign located at a first position and a second maplet provides roadinformation/data regarding a second observation of observation classsign face and of type speed limit located at a second position that isnear the first position, it may be determined that the first and secondobservations do not correspond to the same real world object and/orfeature/element. Thus, the road information/data regarding the first andsecond observations will not be merged. In another example, if a firstmaplet provides road information/data regarding a first observation ofobservation class sign face and of type stop sign located at a firstposition and a third maplet provides road information/data regarding athird observation of observation class sign face and of type stop signlocated at a third position that is near the first position, it may bedetermined that the first and third observations do correspond to thesame real world object and/or feature/element. Thus, the roadinformation/data regarding the first and third observations may bemerged.

In various embodiments, merged road information/data may be generatedfrom road information/data provided by two or more maplets by averagingcorresponding fields of the road information/data and/or determining astatistical distribution of values for various fields of the roadinformation/data corresponding to an observation. For example, using theabove stop sign example, the location of the stop sign may be determinedby averaging the first position and the third position. In an exampleembodiment, merged road information/data may be generated from two moremaplets by taking a weighted average of corresponding fields of the roadinformation/data. For example, the first and third positions may beweighted based on the accuracy of each of the first and third positions.For example, a weighted average may be determined based on covariancematrices provided by the corresponding maplets, a relevant accuracy orstandard deviation provided in the headers of the corresponding maplets,and/or the like. In another example, if road information/datacorresponding to the stop sign is provided by a plurality of maplets, astatistical distribution corresponding to each of various features ofthe stop sign (e.g., location, dimensions, orientation, and/or the like)may be determined based on the corresponding fields of the roadinformation/data. In various embodiments, determining the statisticaldistributions may take into account any covariance matrices provided bythe corresponding maplets, a relevant accuracy or standard deviationprovided in the headers of the corresponding maplets, and/or the like.Various other methods of merging road information/data provided by twoor more maplets may be used in various embodiments to generate mergedroad information/data.

At block 712, if a time window was not defined in the update mapletrequest, the number of maplets received in response to the update mapletrequest may be monitored to determine when a sufficient number ofmaplets have been received and a request cancellation message cancellingthe update maplet request may be provided in response to determiningthat the sufficient number of maplets have been received. For example,the network apparatus 10 may monitor the number of maplets received inresponse to the update maplet request to determine when a sufficientnumber of maplets have been received. Responsive to determining that asufficient number of maplets have been received in response to theupdate maplet request, the network apparatus 10 may provide a requestcancellation message cancelling the update maplet request. For example,the network apparatus 10 may comprise means, such as processor 12,memory 14, and/or the like, for monitoring the number of mapletsreceived in response to the update maplet request to determine when asufficient number of maplets have been received. The network apparatus10 may comprise means, such as processor 12, memory 14, communicationinterface 16, and/or the like for, responsive to determining that asufficient number of maplets have been received in response to theupdate maplet request, providing a request cancellation messagecancelling the update maplet request. For example, the requestcancellation message may be provided such that the request cancellationmessage is received by a plurality of vehicle apparatuses 20. In anexample embodiment, the request cancellation message may indicate thatthe update maplet request is no longer active.

At block 714, the (merged) road information/data of the plurality ofmaplets is analyzed to determine one or more updates to the mapinformation/data corresponding to the request region. For example, thenetwork apparatus 10 may analyze the (merged) road information/data ofthe plurality of maplets to determine one or more updates to the mapinformation/data corresponding to the request region. For example, thenetwork apparatus 10 may comprise means, such as processor 12, memory14, and/or the like for analyzing the (merged) road information/data ofthe plurality of maplets to determine one or more updates to the mapinformation/data corresponding to the request region. For example, the(merged) road information/data and the corresponding mapinformation/data may be compared to identify (a) one or more elements ofthe (merged) road information/data that do not match the correspondingelement(s) of the current map information/data, (b) one or more elementsof the (merged) road information/data do not have a correspondingelement in the map information/data, and/or (c) one or more elements ofthe current map information/data do not have a corresponding element ofthe (merged) road information/data. When one or more elements of the(merged) road information/data are identified that do not match thecorresponding element(s) of the current map information/data, an updatefor the current map information/data may be determined that would placethe map information/data in agreement with the (merged) roadinformation/data. When one or more elements of the (merged) roadinformation/data do not have a corresponding element in the mapinformation/data, map information/data representing the one or moreelements of the (merged) road information/data that do not havecorresponding elements in the current map information/data are generatedand/or determined. When one or more elements of the current mapinformation/data do not have a corresponding element of the (merged)road information/data, it may be determined if the current mapinformation/data representing the elements of the map information thatdo not have corresponding elements of (merged) road information/datashould be removed from the digital map (e.g., the geographic databasestoring the map information/data), turned off, and/or the like. Thus,one or more updates to the digital map and/or the map information/dataof the digital map may be determined based on the (merged) roadinformation/data.

At block 716, the digital map may be updated based on the one or moreupdates to the digital map information/data determined based on the(merged) road information/data. For example, the network apparatus 10may update the digital map based on the one or more updates to thedigital map information/data determined based on the (merged) roadinformation/data. For example, the network apparatus 10 may comprisemeans, such as the processor 12, memory 14, and/or the like, forupdating the digital map based on the one or more updates to the digitalmap information/data determined based on the (merged) roadinformation/data. In various embodiments, the updated map may bepackaged into tiles and/or portions of the digital map for efficienttransmission of the digital map (and/or tile(s)/portion(s) thereof). Forexample, one or more tiles of the digital map corresponding to therequest region may be updated based on the updates to the digital mapinformation/data determined based on the (merged) road information/data.

At block 718, the updated version of the digital map (and/ortile(s)/portion(s) thereof) are provided. For example, the networkapparatus 10 may provide the updated version of the digital map (and/ortile(s)/portion(s) thereof). For example, the network apparatus 10 maycomprise means, such as the processor 12, memory 14, communicationinterface 16, and/or the like, for providing the updated version of thedigital map (and/or tile(s)/portion(s) thereof). For example, theupdated digital map (and/or updated tile(s)/portion(s) thereof) may beprovided such that one or more vehicle apparatuses 20 receive theupdated digital map (and/or updated tile(s)/portion(s) thereof). Forexample, the one or more vehicle apparatuses 20 may perform one or morenavigation functions using the updated digital map (and/or updatedtile(s)/portion(s) thereof).

Providing a Maplet

In various embodiments, a vehicle apparatus 20 may receive a mapletrequest (e.g., a validation maplet request, discovery maplet request,and/or update maplet request). The maplet request may indicate a requestregion (possibly including a buffer region about the request region), atime window for which the maplet request is active, and/or the like. Ifthe vehicle apparatus 20 determines that the corresponding vehicle 5 islocated within and/or has entered the request region and/or the bufferregion while the maplet request is active, the vehicle apparatus 20 maygenerate and provide maplets in response to the maplet request.

FIG. 8 provides a flowchart illustrating operations performed to providea maplet in response to a maplet request, in accordance with an exampleembodiment. Starting at block 802, a maplet request is received. Forexample, a vehicle apparatus 20 may receive a maplet request. Forexample, a vehicle apparatus 20 may comprise means, such as processor22, memory 24, communication interface 26, and/or the like, forreceiving a maplet request. For example, a network apparatus 10 maygenerate and provide the maplet request such that the vehicle apparatus20 receives the maplet request. As noted above, in various embodiments,the maplet request comprises an indication of a request region, a bufferregion about the request region, a time window during which the mapletrequest is active, and/or the like.

At block 804, it is determined that the vehicle apparatus 20 and/or thecorresponding vehicle 5 enters and/or is located within the requestregion and/or within the buffer region while the maplet request isactive. For example, the vehicle apparatus 20 may determine (e.g., basedon a location sensor 29 of and/or in communication with the vehicleapparatus 20) that the vehicle apparatus 20 and/or the correspondingvehicle 5 has entered and/or is located within the request region and/orthe buffer region while the maplet request is active. For example, thevehicle apparatus 20 may comprise means, such as processor 22, memory24, and/or the like, for determining that the vehicle apparatus 20and/or the corresponding vehicle 5 has entered and/or is located withinthe request region and/or the buffer region while the maplet request isactive.

Responsive to determining that the vehicle apparatus 20 and/or thecorresponding vehicle 5 has entered and/or is located within the requestregion and/or the buffer region while the maplet request is active, amaplet may be generated and provided, at block 806. For example, thevehicle apparatus 20 may generate and provide a maplet. For example, thevehicle apparatus 20 may comprise means, such as processor 22, memory24, communication interface 26, sensors 29, and/or the like, forgenerating and providing a maplet. In various embodiments, one or moresensors 29 onboard the vehicle 5 may generate and/or capture sensorinformation/data comprising a plurality of detections of real worldobjects in the environment about the vehicle 5. Based on the sensorinformation/data, the vehicle apparatus 20 may generate a mapletencoding at least a portion of the road information/data indicated bythe sensor information/data. In various embodiments, the maplet requestindicates what road information/data should be included in the maplet.For example, the maplet request may indicate that only roadinformation/data corresponding to a trajectory of the vehicle 5 throughthe request region (e.g., pose points and/or GNSS points) is to beprovided. For example, the maplet request may indicate that roadinformation/data corresponding to a trajectory of the vehicle 5 throughthe request region and road information/data corresponding toobservations of one or more observation classes are to be included inthe maplet. The generated maplet may include road information/datacorresponding to the trajectory of the vehicle 5 through the requestregion and road information/data corresponding to observations of anyobservation classes identified in the maplet request. Thus, the vehicleapparatus 20 may generate a maplet based on the maplet request.

At block 808, responsive to providing a maplet, it may be determined ifthe vehicle apparatus 20 and/or vehicle 5 has exited the request regionand/or buffer region. For example, the vehicle apparatus 20 maydetermine (e.g., based on a location sensor 29 of and/or incommunication with the vehicle apparatus 20) if the vehicle apparatus 20and/or vehicle 5 has exited the request region and/or buffer region. Forexample, the vehicle apparatus may comprise means, such as processor 22,memory 24, sensors 29, and/or the like, for determining if the vehicle20 and/or vehicle 5 has exited the request region and/or buffer region.

If it is determined that the vehicle apparatus 20 and/or vehicle 5 hasexited the request region and/or buffer region, at block 808, theprocess continues to block 812. At block 812, the vehicle apparatus 20stops generating and providing maplets in response to and/or based onthe maplet request.

If it is determined that the vehicle apparatus 20 and/or vehicle 5 hasnot exited the request region and/or buffer region, at block 808, theprocess continues to block 810. At block 810, it is determined if themaplet request is still active. For example, the vehicle apparatus 20may determine if the maplet request is still active. For example, thevehicle apparatus 20 may comprise means, such as processor 22, memory24, communication interface 26, and/or the like, for determining if themaplet request is still active. For example, it may be determined if thetime window provided by the maplet request has expired or is stillactive. For example, it may be determined if a request cancellationmessage corresponding to the maplet request has been received.

If it is determined, at block 810, that the maplet request is stillactive, the process returns to block 808 and another maplet is generatedand provided. In an example embodiment, the geographic extents ofadjacent maplets provided by a vehicle apparatus 20 during a singlevehicle ignition cycle do not overlap with one another. In an exampleembodiment, the geographic extents of adjacent maplets provided by avehicle apparatus 20 during a single vehicle ignition cycle may overlapwith one another. Any overlap may be kept to a minimum in order tominimize bandwidth requirements for transmitting the maplets. In anexample embodiment, the geographic extends of adjacent maplets providedby a vehicle apparatus 20 during a single vehicle ignition cycle adjoin,abut, and/or slightly overlap such that there are not any spatial gapsbetween adjacent maplets.

If it is determined, at block 810, that the maplet request is not stillactive, the process continues to block 812. At block 812, the vehicleapparatus 20 stops generating and providing maplets in response toand/or based on the maplet request.

Generating a Maplet

In various embodiments, a maplet is generated that comprises roadinformation/data in a predetermined/predefined, standardized datastructure (and/or predetermined/predefined, standardized format inaccordance with a predetermined/predefined, standardized data model). Inan example embodiment, a plurality of sensors 29 are onboard the vehicle5 and in communication with the processor 22 of the vehicle apparatus20. Sensor information/data captured by the one or more sensorscomprises a plurality of detections that may be used to generate one ormore observations. The observation is a coherent and/or consistentdescription of the sensor information/data captured by sensors 29onboard the vehicle 5 corresponding to detections of the same real worldobject. In various embodiments, the observation is described and/orencoded by road information/data. In various embodiments, the sensorinformation/data captured by the one or more sensors is used to generatea multi-sensor data stream comprising a plurality of observationsencoded via road information/data. A maplet generated based on and/orresponsive to a maplet request comprises at least a portion of the roadinformation/data encoding the multi-sensor data stream and/or one ormore observations thereof. In an example embodiment, the multi-sensordata stream corresponds to sensor information/data collected and/orcaptured over a predetermined length and/or time of a single vehicleignition cycle. For example, in an example embodiment, the predeterminedlength is 1 km in urban situations and/or 5 km in highway situations. Invarious embodiments, road information/data provided by a maplet is anintermediary between raw sensor information/data and mapinformation/data of a digital map.

In various embodiments, as the vehicle 5 traverses the segment of thevehicle's trajectory corresponding to a maplet, the sensors 29 capturesensor information/data. The captured sensor information/data comprisesa plurality of detections of real world objects and/or environmentelements in the environment about the vehicle 5. The captured sensorinformation/data may further comprise pose points and/or GNSS pointsdescribing the vehicle's trajectory through and/or along a segment ofthe road network. The sensor information/data is fused to form amulti-sensor data stream. For example, multiple detections of a firstreal world object and/or environment element captured, detected,collected, and/or the like by the same or different sensors 29 onboardthe vehicle 5 may be fused to form a coherent, consistent observation ofthe first real world object and/or environment element. The sensorinformation/data comprises a plurality of detections that correspond toa plurality of real world objects and/or environment elements. Thefusing of the sensor information/data generates a multi-sensor datastream comprising a plurality of observations corresponding to aplurality of real world objects and/or environment elements and/or adescription (e.g., pose points and/or GNSS points) of at least a portionof the vehicle's 5 trajectory through and/or along a segment of the roadnetwork. The multi-sensor data stream (e.g., the fused sensorinformation/data) comprises observation road information/data thatcharacterizes each of the observations of the multi-sensor data streamand/or trajectory road information/data that characterizes a portion ofthe vehicle's trajectory through and/or along a segment of the roadnetwork. The observation and/or trajectory road information/data, and/ora portion thereof, may be used to generate a maplet by formatting theobservation and/or trajectory road information/data, and/or a portionthereof, into the predetermined, standardized data structure of themaplet and/or observation class portions thereof.

FIG. 9 provides a flowchart illustrating operations performed togenerate a maplet in response to a maplet request, in accordance with anexample embodiment. Starting at block 902, sensor information/data iscaptured, collected, and/or the like as the vehicle 5 traverses the roadnetwork. For example, the vehicle apparatus 20 may cause the capturing,collection, and/or the like of sensor information/data as the vehicle 5traverses the road network, in an example embodiment. In variousembodiments, the vehicle apparatus 20 receives sensor information/datacaptured, collected, and/or the like by a plurality of sensors 29onboard the vehicle 5 as the vehicle 5 traverses a portion of the roadnetwork. For example, the vehicle apparatus 20 comprises means, such asprocessor 22, memory 24, communication interface 26, sensors 29, and/orthe like, for receiving sensor information/data captured, collected,and/or the like by a plurality of sensors 29 onboard the vehicle 5 asthe vehicle 5 traverses a portion of the road network. In variousembodiments, the sensor information/data comprises a plurality ofdetections. For example, the portion of the road network may be within arequest region and/or corresponding buffer region.

At block 904, at least a portion of the sensor information/data isprocessed, fused, combined, and/or the like to generate observations. Anobservation is a representation of a real world object located in theenvironment about the vehicle 5 as the vehicle traversed a segment ofthe vehicle's trajectory that is determined based on and/or isconsistent with the sensor information/data (e.g., detections of thereal world object) collected, captured, and/or the like as the vehicletraversed the segment of the vehicle's trajectory. In an exampleembodiment, the segment of the vehicle's trajectory may correspond to apredetermined length and/or time of a single vehicle ignition cycle. Forexample, the vehicle apparatus 20 may process, fuse, combine, and/or thelike at least a portion of the sensor information/data to generateobservations. For example, the vehicle apparatus 20 may comprise means,such as processor 22, memory 24, and/or the like for processing, fusing,combining, and/or the like at least a portion of the sensorinformation/data to generate observations.

In an example embodiment, the plurality of observations are encoded byroad information/data generated by processing, fusing, and/or combiningthe sensor information/data and/or detections. The road information/datacomprises trajectory road information/data. For example, the trajectoryroad information/data comprises pose points, GNSS points, and/or thelike. The road information/data may further comprise roadinformation/data corresponding to observations of real world objects inthe environment about the vehicle 5 as the vehicle traversed the segmentof the vehicle's trajectory. The observations may be associated with anobservation class. In an example embodiment, each observation isassociated with an observation class. Some example observation classesinclude sign faces, road surface markings, pole-like objects,construction markers, traffic signals, lane markings, driving surfaceedge (e.g., edge of the pavement comprising the driving surface), roadside barriers, and/or the like. In an example embodiment, the roadinformation/data corresponding to a particular observation is associatedwith an observation class.

At block 906, the maplet encoding the observations created from thefused sensor information/data is generated. For example, the maplet maycomprise a header, trajectory road information/data (e.g., pose points,GNSS points, and/or the like), and observation road information/data forobservations identified within the multi-sensor data stream that areassociated with any observation classes for which the correspondingmaplet request has requested information/data. For example, if themaplet request indicates that observation road information/data isrequest for observations associated with first and second observationclasses and that observation road information/data for observationsassociated with a third observation class should not be included in themaplet, the maplet would comprise a header, trajectory roadinformation/data (e.g., pose points, GNSS points, and/or the like), andobservation road information/data for any observations associated witheither of the first or second observation classes identified within themulti-sensor data stream. The maplet would not contain observation roadinformation/data corresponding to any observations associated with thethird observation class identified within the multi-sensor data stream.In an example embodiment, the maplet request may indicate the type oftrajectory road information/data to be included in the maplet. Forexample, the maplet request may indicate that pose points are desired,that GNSS points are desired, or that both pose points and GNSS pointsare desired. The maplet is then generated in accordance with the roadinformation/data requested in the maplet request. For example, the roadinformation/data may be packaged, compiled, formatted, and/or the likeinto a maplet.

A maplet is a data structure comprising (a) abstracted, parameterized,fused representations of environment elements detected in sensorinformation/data captured by one or more sensors 29 of a vehicleapparatus 20 as represented by the corresponding observation roadinformation/data and (b) a representation of the vehicle's 5 trajectoryhistory for a segment of a vehicle's trajectory as represented by thetrajectory road information/data. In an example embodiment, the segmentof the vehicle's 5 trajectory may correspond to a predetermined lengthand/or time of a single vehicle ignition cycle. In various embodiments,the environment elements comprise a topology of a segment of the roadnetwork as indicated by segment of the vehicle's trajectory andobservations corresponding to the segment of the road network such assign faces, road surface markings, pole-like objects, constructionmarkers, traffic signals, lane markings, driving surface edge (e.g.,edge of the pavement comprising the driving surface), road sidebarriers, and/or the like. In various embodiments, the data structure ofthe maplet is a predefined and/or predetermined, standardized datastructure. In an example embodiment, not every field of a maplet portionincluded in the maplet is populated. In various scenarios, the sensorconfiguration of a vehicle 5 may allow a corresponding vehicle apparatus20 to determine various features of an observation but not every featurefor which a field is provided in the corresponding data format. In suchscenarios, a vehicle apparatus 20 may populate the fields of the dataformat for the observation for which the vehicle apparatus 20 has roadinformation/data and may leave blank and/or omit fields of the dataformat for which the vehicle apparatus 20 does not have appropriate roadinformation/data.

In various embodiments, maplets contain road information/data (e.g.,fused sensor information/data captured and/or collected by sensors 29onboard the vehicle 5, including vehicle trajectory and orientation, andobservations which represent detected real world objects). A vehicleapparatus 20 may store maplets in the protobuf data structures definedby SENSORIS (e.g., SDII-Vx, where SDII-Vx is a future release of SDIIcurrently under development). The maplets are generated in the vehicle 5(by the vehicle apparatus 20) by storing road information/data (e.g.,trajectory road information/data and/or object road information/data)within an SENSORIS data package. In an example embodiment, the vehicleapparatus 20 generates the maplet (e.g., processes/fuses/combines sensorinformation/data, identifies objects, and adds trajectory roadinformation/data and observation road information/data to the maplet) asthe vehicle 5 traverses the segment of the trajectory corresponding tothe maplet. In an example embodiment, the vehicle apparatus 20 generatesthe maplet (e.g., processes/fuses/combines sensor information/data=andadds trajectory road information/data and observation roadinformation/data to the maplet) after the vehicle 5 has finishedtraversing the segment of the trajectory corresponding to the maplet.

At block 910, the maplet is compressed. For example, the vehicleapparatus 20 may compress the maplet. For example, the vehicle apparatus20 may comprise means, such as processor 22, memory 24, and/or the likefor compressing the maplet. In various embodiments, the maplet iscompressed to meet one or more predetermined and/or predefinedcompression ratio goals while not exceeding one or more predeterminedand/or predefined maximum allowed data loss levels. In an exampleembodiment, the numerical changes caused by a compression-decompressioncycle in any coordinate values, using lossy compression, should be lessthan 1% of the accuracy requirements for that coordinate value.

At block 912, the compressed maplet is provided. For example, thevehicle apparatus 20 may provide (e.g., transmit) the compressed maplet.For example, the vehicle apparatus 20 may comprise means, such asprocessor 22, memory 24, communication interface 26, and/or the like,for providing (e.g., transmitting) the compressed maplet. In variousembodiments, the vehicle apparatus 20 provides (e.g., transmits) themaplet such that the network apparatus 10 receives the maplet. Forexample, the vehicle apparatus 20 may provide the compressed maplet suchthat an intermediary apparatus 30 receives the compressed maplet. Theintermediary apparatus 30 may decompress the maplet. For example, theintermediary apparatus 30 may decompress the maplet to a SENSORIS (e.g.,SDII-Vx) format. The intermediary apparatus 30 may then provide (e.g.,transmit) the decompressed maplet such that the network apparatus 10receives the decompressed maplet. In an example embodiment, theintermediary apparatus 30 may anonymize the maplet (e.g., removeinformation/data identifying the vehicle 5, the vehicle apparatus 20,and/or the user corresponding to the vehicle 5 and/or vehicle apparatus20) prior to providing the (decompressed) maplet such that the networkapparatus 10 receives the (decompressed) maplet. In an exampleembodiment, the intermediary apparatus 30 recompresses the maplet usinga lossless compression before providing the maplet such that the networkapparatus 10 receives the maplet. For example, the network apparatus 10may receive a maplet provided by the intermediary apparatus 30 that hasbeen compressed using a lossless compression. In an example embodiment,the vehicle apparatus 20 provides the (compressed) maplet such thenetwork apparatus 10 receives the (compressed) maplet directly (e.g.,without the intermediary actions of the intermediary apparatus 30).

Exemplary Maplet Data Structure

As noted above, a maplet is a data structure comprising (a) abstracted,parameterized, fused representations of environment elements detected insensor information/data captured by one or more sensors of a vehicleapparatus and (b) a representation of the vehicle's trajectory historyfor a segment of a vehicle's trajectory. In some scenarios, a maplet mayonly comprise road information/data representing a vehicle's trajectoryhistory for a segment of the vehicle's trajectory. In variousembodiments, the data structure of the maplet is a predefined and/orpredetermined, standardized data structure. The predefined and/orpredetermined, standardized data structure comprises a predefined and/orpredetermined standardized data format in accordance with a predefinedand/or predetermined, standardized data model. The predefined and/orpredetermined, standardized data model and predefined and/orpredetermined standardized data formats are configured for efficient useof network bandwidth for the transmitting of the road information/data.

In various embodiments, the predefined and/or predetermined,standardized data structure comprises a header having a predefinedand/or predetermined, standardized data format. In various embodiments,the predefined and/or predetermined, standardized data structurecomprises one or more trajectory portions (e.g., for trajectory roadinformation/data such as pose points, GNSS points, and/or the like) eachhaving a predefined and/or predetermined, standardized data format. Invarious embodiments, the predefined and/or predetermined standardizeddata structure comprises one or more observation portions (e.g., forobservation road information/data) each having a predefined and/orpredetermined, standardized data format. In an example embodiment, eachobservation portion is associated with an observation class and thecorresponding predefined and/or predetermined, standardized data formatmay be particular to the corresponding observation class. The predefinedand/or predetermined, standardized data structure allows a variety ofvehicles, each having different, possibly proprietary, sensorconfigurations to provide maplets that are efficiently transmitted(e.g., do not require a large amount of bandwidth for transmission) andthat may be readily merged and/or combined for analysis.

Exemplary Header

In various embodiments, a maplet comprises a header. In variousembodiments, the header comprises elements which are either global tothe maplet or that change only slowly within a single maplet. Elementsthat are global to the maplet apply generally to maplets generated bythe vehicle apparatus 20 or that do not change along the segment of thevehicle's trajectory corresponding to the maplet. Elements that areglobal within a maplet are represented as single values within theheader. Elements that are changing slowly within a maplet are elementsthat change slowly as the vehicle 5 traverses the segment of thevehicle's trajectory corresponding to the maplet. Elements that arechanging slowly within the maplet are represented as time ordered listsof values, where each value in a list is associated with a timestampindicating when it becomes the currently valid value.

FIG. 10 provides an example header data format 1010, according to anexample embodiment. For example, the header data format 1010 comprises aSensor Data Request Interface (SDRI) format identifier (ID) field, thevalue of which identifies the maplet request to which the maplet wasgenerated in response. In an example embodiment, each maplet request hasa unique SDRI ID configured for use in identifying the maplet request.For example, the header data format 1010 comprises a compression factorfield, the value of which describes the lossiness of the compressionused to compress the maplet before the vehicle apparatus 20 provides themaplet. For example, the header data format 1010 comprises a coordinateduniversal time (UTC) time offset field, the value of which is the offsetbetween the average nominal relative time of the on-vehicle sensors' 29clocks and UTC. In various embodiments, the value of the UTC time offsetshould be accurate to one millisecond or better to allow precisecorrelation between vehicle 5 systems (e.g., including the vehicleapparatus 20) and external systems, such as traffic light networks orexternal performance validation systems. For example, the header dataformat 1010 comprises trajectory type and observation class flag fields.For example, the header data format 1010 may comprise a pose point flagfield, GNSS point flag field, sign face flag field, road surface markingflag field, pole-like object flag field, construction marker flag field,traffic signal flag field, lane marking flag field, driving surface edgeflag field, road side barrier flag field, and/or the like. When thevalue of a trajectory type or observation class flag field is set totrue, the maplet comprises a portion corresponding to that trajectorytype or observation class. When the value of a trajectory type orobservation class flag field is set to false, the maplet does notcomprise a portion corresponding to that trajectory type or observationclass. For example, if the pose point flag field value is set to trueand the GNSS point flag field is set to false, the corresponding mapletincludes a portion providing trajectory road information/data in theform of pose points but does not include a portion providing trajectoryroad information/data in the form of GNSS points.

In an example embodiment, the header data format 1010 comprises one ormore fields corresponding to positions and/or locations provided by themaplet. For example, the header format 1010 comprises one or more fieldsproviding information regarding a coordinate system used by the vehicleapparatus 20 to provide positions and/or locations, standard deviationsrelevant to one or more positions and/or locations, and/or the like. Forexample, the header data format 1010 comprises a position type field.The value of the position type field indicates the coordinate systemused to provide the coordinates of the pose points. For example, thecoordinates of the pose points may be provided in earth-centeredearth-fixed (ECEF) coordinates, geodetic coordinates, vehicle centeredsystem (VCS), and/or other coordinate system. For example, the headerdata format 1010 comprises a GNSS antennae to VCS offset field, thevalue of which is a three dimensional vector originating at the antennaeof the GNSS sensor (of the sensors 29) and ending at the center/originof the VCS coordinate system. For example, the header data format 1010comprises a pose point standard deviation field, the value of whichindicates the standard deviation for the pose point coordinates relativeto the VSC coordinate system under conditions assuming good GNSSperformance. For example, the pose point standard deviation field maycomprise a vector/array comprising standard deviations for longitudinal(x), lateral (y), and vertical (z) pose point coordinates relative tothe VSC coordinate system under conditions assuming good GNSSperformance. In an example embodiment, the pose point standarddeviations provided in the pose point standard deviation field are OEMcertified, nominal standard deviations for the pose point coordinates.For example, the header data format 1010 comprises a GNSS standarddeviation field, the value of which indicates the standard deviationsfor the [X, Y, Z] coordinates of the GNSS sensor (of the sensors 29;e.g., in meters) relative to a planimetric mapping coordinate system,such as Geodetic or local Cartesian mapping coordinate systems. Forexample, the positive X direction may be east, the positive Y directionmay be north, and the positive Z direction may be up. In an exampleembodiment, the GNSS standard deviations provided in the GNSS standarddeviation field are OEM certified, nominal standard deviations for theGNSS sensor.

For example, the header data format 1010 comprises a lane markingstandard deviation field, the value which is an array and/or list of thestandard deviations of the longitudinal (x), lateral (y), and vertical(z) lane markings sample points relative to the VCS coordinate system.In an example embodiment, the lane marking standard deviations providedin the lane marking standard deviation field are OEM certified, nominalstandard deviations for the lane marking sample points for the sensorconfiguration of the vehicle 5 and/or vehicle apparatus 20. For example,the data header format 1010 comprises a driving surface edge standarddeviation field, the value of which is an array and/or list of thestandard deviations of the longitudinal (x), lateral (y), and vertical(z) driving surface sample points relative to the VCS coordinate system.In an example embodiment, the driving surface edge standard deviationsprovided in the driving surface edge standard deviation field are OEMcertified, nominal standard deviations for the driving surface edgesample points for the sensor configuration of the vehicle 5 and/orvehicle apparatus 20. For example, the data header format 1010 comprisesa roadside barrier standard deviation field, the value which is an arrayand/or list of the standard deviations of the longitudinal (x), lateral(y), and vertical (z) roadside barrier sample points relative to the VCScoordinate system. In an example embodiment, the roadside barrierstandard deviations provided in the roadside barrier standard deviationfield are OEM certified, nominal standard deviations for the roadsidebarrier sample points for the sensor configuration of the vehicle 5and/or vehicle apparatus 20. For example, the header data format 1010comprises a pose point drift rates field, the values of which providethe drift rates of the pose points in the longitudinal (x), lateral (y),and vertical (z) coordinates relative to the VCS coordinate system whenGNSS information/data is not available as part of the pose point fusionprocessing. The pose point drift rates indicate the rate of increase inthe respective standard deviations of the vehicle's 5 position overtime. In an example embodiment, the pose point drift rates provided inthe pose points drift rates field are OEM certified, nominal drift ratesfor the pose points for the sensor configuration of the vehicle 5 and/orvehicle apparatus 20.

In various embodiments, the header data format 1010 comprises one ormore fields regarding orientations provided by the maplet. For example,the header data format 1010 comprises an orientation type field, thevalue of which indicates if the rotation of the VCS coordinate system toits associated local coordinate system (LCS) system is given as Eulerangles or quaternions. For example, the header data format 1010comprises an Euler rotation type field. If the vehicle rotation anglesare given as Euler angles, the value of the Euler rotation type fieldindicates if the rotations are to be applied in an intrinsic orextrinsic manner. As should be understood, intrinsic rotations areelemental rotations that occur about the axes of a coordinate systemattached to a moving body (e.g., the VCS system coordinates attached tothe vehicle 5) and extrinsic rotations are elemental rotations thatoccur about the axes of a fixed coordinate system (e.g., the coordinatesof the LCS system). For example, the header data format 1010 comprisesan Euler rotation order field. If vehicle rotation angles are given asEuler angles, the value of the Euler rotation order field indicates oneof twelve possible orders of rotation for Euler angles. For example, theheader data format 1010 comprises a quaternion order field. If vehiclerotation angles are given as Euler angles, the value of the quaternionorder field indicates which of two conventions are used for the order ofthe quaternions.

Various embodiments may use various fields of the header data format1010 and/or various other fields. In an example embodiment, the headerdata format 1010 only comprises fields relevant to the correspondingmaplet. For example, FIG. 10A provides an example maplet 1020 that onlycomprises pose points road information/data and roadside barrier roadinformation/data. Thus, the header 1025 only comprises fields that arerelevant to the pose points road information/data and the roadsidebarrier road information/data. For example, the header 1025 does notcomprise a sign faces flag field and the omission thereof indicates thatthe value of the sign faces flag field is false. Thus, the size of themaplet 1020 may be minimized for efficient transmission of the mapletvia the network 50 (e.g., proprietary network 50A).

Exemplary Pose Points Portion

In various embodiments, a maplet may comprise a pose points portion. Thepose points portion is configured to provide trajectory roadinformation/data in the form of pose points. In various embodiments, apose point defines the position and orientation of the vehicle 5 at agiven instant in time. Pose point coordinates are provided as eitherECEF coordinates or geodetic coordinates with a height above ellipsoid,but not both, in various embodiments. In various embodiments, pose pointorientations are provided either as Euler angles or quaternions, asspecified in the header of the maplet, but not both. By not includingduplicate road information/data (e.g., coordinates in two differentcoordinate systems or orientations in two different coordinate systems),the small size of the maplet is maintained. In various embodiments, posepoints are collected every pose point distance and/or every pose pointtime. In an example embodiment, the pose point distance is one meter. Inan example embodiment, the post point time is every second. In anexample embodiment, the pose points are collected every point distanceand/or every pose point time, which ever will result in a denser (e.g.,more pose points) instantaneous collection rate. In an exampleembodiment, the relative positional accuracy of spatially separated posepoints within a single drive session is 40 cm, per 100 meters of travel,or better, under all conditions, in an example embodiment. In variousembodiments, pose point information/data shall not be processed in anymanner that attempts to reposition the pose point information/data tomatch with existing maps or road features such as road lane markings,and/or the like. For example, pose points should not be map matched.

FIG. 11A shows an example portion of road network 1102 and a pluralityof pose points 1104 indicating the travel of the vehicle 5 along theportion of the road network 1102. FIG. 11B shows an example pose pointportion 1110 of a maplet corresponding to the pose points 1104. In anexample embodiment, the data format of the pose point portion 1110 is apredefined and/or predetermined standardized format. The pose pointportion 1110 comprises a timestamp field. For example, the predefinedand/or predetermined standardized format corresponding to pose pointsmay comprise a timestamp field. The timestamp field comprises a list oftimestamps (e.g., t1, . . . tn) each corresponding to the time when acorresponding pose point was captured, determined, and/or the like. Thepose point portion 1110 comprises a pose point ECEF field. For example,the predefined and/or predetermined standardized format corresponding topose points may comprise a pose point ECEF field. In this example, theposition of the pose points are provided in ECEF coordinates. Thus, thepose point ECEF field comprises a list of three dimensional pose pointpositions in the ECEF coordinate system indicating the position and/orlocation of the vehicle at each of the pose points 1104 and/ortimestamps (e.g., (x1, y1, z1), . . . (xn, yn, zn)). The pose pointportion 1110 may further comprise a pose point geodetic field and a posepoint elevation field. For example, the predefined and/or predeterminedstandardized format corresponding to pose points may comprise a posepoint geodetic field and a pose point elevation field. In a scenariowhere the pose points are provided in a geodetic coordinate system alongwith an elevation, the pose point geodetic field would comprise a listof two dimensional pose point positions in a geodetic coordinate systemand the pose point elevation field would include a list of the posepoints' heights above the WGS84 (G1762) ellipsoid. In an exampleembodiment, the pose point portion 1110 comprises a vehicle orientationEuler field. For example, the predefined and/or predeterminedstandardized format corresponding to pose points may comprise a vehicleorientation Euler field. In this example, the position of the vehicleorientations are provided in Euler angles. Thus, the vehicle orientationEuler field comprises a list of vehicle orientations in Euler anglescorresponding to the orientation of the vehicle 5 at each of the posepoints 1104 and/or timestamps (e.g., O1, . . . On). The pose pointportion 1110 may further comprise a vehicle orientation quaternionfield. For example, the predefined and/or predetermined standardizedformat corresponding to pose points may comprise a vehicle orientationquaternion field. In a scenario where the vehicle orientation areprovided in quaternions, the vehicle orientation quaternion field wouldcomprise a list of quaternions indicating the orientation of the vehicle5 at each of the pose points 1104 and/or timestamps.

In an example embodiment, if the pose points are provided in ECEFcoordinates, the pose point geodetic and elevation fields may be omittedfrom the maplet to reduce the size of the maplet. Similarly, in anexample embodiment, if the pose points are provided in geodeticcoordinates with an elevation, the pose point ECEF field may be omittedfrom the maplet to reduce the size of the maplet. In a similar vein, inan example embodiment, if the vehicle orientations are provided in Eulerangles, the vehicle orientation quaternion field may be omitted from themaplet to reduce the size of the maplet. In an example embodiment, ifthe vehicle orientations are provided in quaternions, the vehicleorientation Euler field may be omitted from the maplet to reduce thesize of the maplet. In various embodiments, the predefined and/orpredetermined standardized format corresponding to pose points maycomprise various variations and/or additions to the fields shown in FIG.11B.

Exemplary GNSS Points Portion

In various embodiments, a maplet may comprise a GNSS points portion. TheGNSS points portion is configured to provide trajectory roadinformation/data in the form of GNSS points. In an example embodiment,GNSS points are coordinate readings from a GNSS sensor (of the sensors29) onboard the vehicle 5. In an example embodiment, GNSS points arecoordinate readings from the highest accuracy (e.g., at the GNSSsensor's native frequency) onboard the vehicle 5. In an exampleembodiment, GNSS point coordinates are provided in either ECEFcoordinates or geodetic coordinates with a height above ellipsoid, butnot both. In an example embodiment, the accuracy requirements forindividual GNSS points assume position (3D) dilution of precision (PDOP)is four or less, the satellite constellation is four or more, and/ormultipath is absent. In an example embodiment, the GNSS ECEF coordinatesare defined relative to the International Terrestrial Reference Frame(e.g., ITRF2014).

FIG. 12A shows an example portion of road network 1202 and a pluralityof GNSS points 1204 indicating the travel of the vehicle 5 along theportion of the road network 1202. FIG. 12B shows an example GNSS pointportion 1210 of a maplet corresponding to the GNSS points 1204. In anexample embodiment, the data format of the GNSS point portion 1210 is apredefined and/or predetermined standardized format. The GNSS pointportion 1210 comprises a timestamp field. For example, the predefinedand/or predetermined standardized format corresponding to GNSS pointsmay comprise a timestamp field. The timestamp field comprises a list oftimestamps (e.g., t1, . . . tn) each corresponding to the time when acorresponding GNSS point was captured, determined, and/or the like. TheGNSS point portion 1210 comprises a GNSS point ECEF field. For example,the predefined and/or predetermined standardized format corresponding toGNSS points may comprise a GNSS point ECEF field. In this example, theposition of the GNSS points are provided in ECEF coordinates. Thus, theGNSS point ECEF field comprises a list of three dimensional GNSS pointpositions in the ECEF coordinate system indicating the position and/orlocation of the vehicle at each of the GNSS points 1204 and/ortimestamps (e.g., (x1, y1, z1), . . . (xn, yn, zn)). The GNSS pointportion 1210 may further comprise a GNSS point geodetic field and a GNSSpoint elevation field. For example, the predefined and/or predeterminedstandardized format corresponding to GNSS points may comprise a GNSSpoint geodetic field and a GNSS point elevation field. In a scenariowhere the GNSS points are provided in a geodetic coordinate system alongwith an elevation, the GNSS point geodetic field would comprise a listof two dimensional GNSS point positions in a geodetic coordinate systemand the GNSS point elevation field would include a list of the GNSSpoints' heights above the WGS84 (G1762) ellipsoid. In an exampleembodiment, the GNSS point portion 1210 comprises a PDOP field,constellation count field, mask angle field, Receiver IndependentExchange Format (RINEX) field, and/or the like. For example, thepredefined and/or predetermined standardized format corresponding toGNSS points may comprise a PDOP field, constellation count field, maskangle field, Receiver Independent Exchange Format (RINEX) field, and/orthe like. The PDOP field comprises a list of PDOP values correspondingto the GNSS measurements that provided each of the GNSS point positions(e.g., P1, . . . Pn). The constellation count field comprises a list ofthe number of GNSS satellites in the constellation used to determine theGNSS points positions at each GNSS point 1204 (e.g., C1, . . . Cn). Themask angle field comprises the angle limit under which satellites in theconstellation are ignored in the determining the GNSS point position. Inan example embodiment, the mask angle field may comprise a single anglethat corresponds to all of the GNSS pose point position determinations.In an example embodiment, the mask angle field may comprise a list ofangles with each angle corresponding to the determination of acorresponding GNSS pose point position. RINEX is a data interchangeformat for raw global satellite navigation system data. In an exampleembodiment, the RINEX field may comprise a string indicating the datainterchange format corresponding to the GNSS points.

In an example embodiment, if the GNSS points are provided in ECEFcoordinates, the GNSS point geodetic and elevation fields may be omittedfrom the maplet to reduce the size of the maplet. Similarly, in anexample embodiment, if the GNSS points are provided in geodeticcoordinates with an elevation, the GNSS point ECEF field may be omittedfrom the maplet to reduce the size of the maplet. In variousembodiments, the predefined and/or predetermined standardized formatcorresponding to GNSS points may comprise various variations and/oradditions to the fields shown in FIG. 12B.

Exemplary Sign Face Portion

In various embodiments, a maplet may comprise a sign face portion. Forexample, if a vehicle apparatus 20 identifies one or more observationsin a multi-sensor data stream that are associated with the observationclass of sign face, road information/data corresponding to the one ormore observations may be provided as one or more sign face portions of amaplet. For example, in one embodiment, a maplet comprises a sign faceportion for each of the one or more identified observations that areassociated with the observation class sign face. In an exampleembodiment, a maplet comprises one sign face portion that includes roadinformation/data for each of the one or more observations identified inthe multi-sensor data stream and associated with the sign faceobservation class. In various embodiments, sign faces are sign featuresabove the roadway surface, including signs mounted on posts or poles oneither side of the road, as well as rectangular sign boards mounted onscaffolding above the road's surface.

FIG. 13A shows a front view of an example sign face 1302 and FIG. 13Cshows a top view of the example sign face 1302, which happens to be stopsign. As should be understood, the observations associated with theobservation class sign face may be stop signs, yield signs, speed limitsigns, informational signs, exit signs, road name signs, and/or faces ofother types of signs. The example sign face 1302 has a center point1304, a height H, and a width W. The front surface 1306 of the examplesign face 1302 has a normal vector 1308 that is at an angle α withrespect to a reference direction 1320 (e.g., North).

FIG. 13B provides an example sign face portion 1310 of a mapletcorresponding to the example sign face 1302. In an example embodiment,the data format of the sign face portion 1310 is a predefined and/orpredetermined standardized format. The sign face portion 1310 maycomprise a sign id field. For example, the predefined and/orpredetermined, standardized format corresponding to the observationclass sign face may comprise a sign id field. In an example embodiment,the value of the sign id field is a unique identifier for the real worldsign. In an example embodiment, the sign id is used in case any singlereal world sign has multiple observations accidently returned. Forexample, the sign id may uniquely identify the real world sign withinthe road network and/or digital map. For example, the sign face portion1310 may comprise a sign center point field. For example, the predefinedand/or predetermined, standardized format corresponding to theobservation class sign face may comprise a sign center point field. Inan example embodiment, the value of the sign center point field is threedimensional vector providing the position of the center point 1304. Forexample, the sign face portion 1310 may comprise a sign type field. Forexample, the predefined and/or predetermined, standardized formatcorresponding to the observation class sign face may comprise a signtype field. In an example embodiment, the value of the sign type fieldis a type corresponding to the sign face. For example, in theillustrated embodiment, the type corresponding to the sign face 1302 isstop sign. Various sign types may be defined in various embodiments. Inan example embodiment, the sign face portion 1310 may comprise atimestamp field. For example, the predefined and/or predetermined,standardized format corresponding to the observation class sign face maycomprise a timestamp field. For example, the value of the timestampfield may be the timestamp (e.g., ts) of the sensor capture event whosebody frame coordinate system instance is used to reference the sign'sspatial coordinate(s). For example, the value of the timestamp field maybe the timestamp of the sensor capture event whose body frame coordinatesystem instance was used to determine the coordinates of the centerpoint 1304. In an example embodiment, the sign face portion 1310 maycomprise an orientation field. For example, the predefined and/orpredetermined, standardized format corresponding to the observationclass sign face may comprise an orientation field. For example, thevalue of the orientation field may be the angle (e.g., a) between anormal vector 1308 of the front surface 1306 of the sign face 1302 and areference direction 1320.

In an example embodiment, the sign face portion 1310 may comprise aheight field, width field, and/or other field configured to describe thesize of the sign face. For example, the predefined and/or predetermined,standardized format corresponding to the observation class sign face maycomprise a height field, width field, and/or other field configured todescribe the size of the sign face. For example, the value of the heightfield may be the height H of the sign face and the value of the widthfield may be the width W of the sign face. In an example embodiment, thesign face portion 1310 may comprise a shape field, color field, and/orother field configured to describe the appearance of the sign face. Forexample, the predefined and/or predetermined, standardized formatcorresponding to the observation class sign face may comprise a shapefield, color field, and/or other field configured to describe theappearance of the sign face. For example, the value of the shape fieldmay describe the shape of the sign face (e.g., square, rectangle,triangle, circle, octagon, and/or the like). For example, the value ofthe color field may describe the background color and/or a dominantcolor of the sign face. In various embodiments, the predefined and/orpredetermined standardized format corresponding to the observation classsign face may comprise various variations and/or additions to the fieldsshown in FIG. 13B.

Exemplary Road Marking Portion

In various embodiments, a maplet may comprise a road marking portion.For example, if a vehicle apparatus 20 identifies one or moreobservations in a multi-sensor data stream that are associated with theobservation class of road marking, road information/data correspondingto the one or more observations may be provided as one or more roadmarking portions of a maplet. For example, in one embodiment, a mapletcomprises a road marking portion for each of the one or more identifiedobservations that are associated with the observation class roadmarking. In an example embodiment, a maplet comprises one road markingportion that includes road information/data for each of the one or moreobservations identified in the multi-sensor data stream and associatedwith the road marking observation class. In various embodiments, roadmarkings are signs and other markings that are painted on to the surfaceof a road. Road markings could include left, right, and forward arrows,stopping bars, cross walk bars, and/or the like. Road markings aretypically white but may come in various colors.

FIG. 14A illustrates an example road marking 1402 on a road surface1400. The road marking 1402 is a right turn arrow that is bounded bybounding polygon 1404. In the example illustrated embodiment, thebounding polygon 1404 is a bounding rectangle. The bounding polygon 1404is defined by two dimensional vertex points (x1, y1), (x2, y2), (x3,y3), and (x4, y4) on the road surface 1400.

FIG. 14B provides an example road marking portion 1410 of a mapletcorresponding to the example road marking 1402. In an exampleembodiment, the data format of the road marking portion 1410 is apredefined and/or predetermined standardized format. The road markingportion 1410 may comprise a road marking id field. For example, thepredefined and/or predetermined, standardized format corresponding tothe observation class road marking may comprise a road marking id field.In an example embodiment, the value of the road marking id field is aunique identifier for the real world road marking. In an exampleembodiment, the road marking id is used in case any single real worldroad marking has multiple observations accidently returned. For example,the road marking id may uniquely identify the real world road markingwithin the road network and/or digital map. In an example embodiment,the road marking portion 1410 may comprise a timestamp field. Forexample, the predefined and/or predetermined, standardized formatcorresponding to the observation class road marking may comprise atimestamp field. For example, the value of the timestamp field may bethe timestamp (e.g., ts) of the sensor capture event whose body framecoordinate system instance is used to reference the road marking'sspatial coordinate(s). For example, the value of the timestamp field maybe the timestamp of the sensor capture event whose body frame coordinatesystem instance was used to determine the coordinates of the vertexpoints defining the bounding polygon 1404. In an example embodiment, theroad marking portion 1410 may comprise a bounding polygon field. Forexample, the predefined and/or predetermined, standardized formatcorresponding to the observation class road marking may comprise abounding polygon field. For example, the value of the bounding polygonfield may be vertex points (e.g., (x1, y1), (x2, y2), (x3, y3), (x4,y4)) that indicate the location of the vertices of a polygon that boundsthe road marking 1402. In an example embodiment, the bounding polygon isrectangle. In an example embodiment, the bounding polygon 1404 is largeenough to bound (e.g., contain) the entire road marking 1402. In anexample embodiment, the bounding polygon 1404 is the smallest polygon ofa particular order (e.g., number of vertices and/or sides) that boundsthe road marking 1402. In various embodiments, the vertex points may beprovided as two or three dimensional points. In an example embodiment,the road marking portion 1410 may comprise a covariance matrix field.For example, the predefined and/or predetermined, standardized formatcorresponding to the observation class road marking may comprise acovariance matrix field. For example, the value of the covariance matrixfield may be a covariance matrix for the coordinates of the vertexpoints defining the bounding polygon 1404. A covariance matrixcorresponding to the vertex points is a matrix whose element in the i,jposition is the covariance between the i-th and j-th elements of thecoordinates of a vertex point. In an example embodiment, the covariancematrix is a three by three matrix. For example, the road marking portion1410 may comprise a road marking type field. For example, the predefinedand/or predetermined, standardized format corresponding to theobservation class road marking may comprise a road marking type field.In an example embodiment, the value of the road marking type field is atype corresponding to the road marking. For example, in the illustratedembodiment, the type corresponding to the road marking 1402 is rightturn arrow. Various sign types may be defined in various embodiments(e.g., right turn arrow, left turn arrow, stop line, forward arrow,cross walk, and/or the like). In an example embodiment, the road markingportion 1410 may comprise a color field. For example, the predefinedand/or predetermined, standardized format corresponding to theobservation class road marking may comprise a color field. For example,the value of the color field may describe the dominant color of the roadmarking. In various embodiments, the predefined and/or predeterminedstandardized format corresponding to the observation class road markingmay comprise various variations and/or additions to the fields shown inFIG. 14B.

Exemplary Pole-Like Object Portion

In various embodiments, a maplet may comprise a pole-like objectportion. For example, if a vehicle apparatus 20 identifies one or moreobservations in a multi-sensor data stream that are associated with theobservation class of pole-like object, road information/datacorresponding to the one or more observations may be provided as one ormore pole-like object portions of a maplet. For example, in oneembodiment, a maplet comprises a pole-like object portion for each ofthe one or more identified observations that are associated with theobservation class pole-like objects. In an example embodiment, a mapletcomprises one pole-like object portion that includes roadinformation/data for each of the one or more observations identified inthe multi-sensor data stream and associated with the pole-like objectobservation class. In various embodiments, pole-like objects arefeatures or objects that are pole-like, such as posts used to mountroadside signs, street light poles, utility poles, poles used to mounttraffic lights, and/or the like. In various embodiments, a pole-likeobject has a height that is equal to or greater than a predefinedminimum height. In an example embodiment, the predefined minimum heightis 50 cm. In various embodiments, a pole-like object is spatiallyseparated by at least a minimum separation distance from other pole-likeobjects. In an example embodiment, the minimum separation distance is 50cm. In an example embodiment, a pole-like object portion of a mapletcomprises two or more reference points for a pole-like object, each witha corresponding diameter. In an example embodiment, a pole-like objectportion of a maplet may comprise only one reference point for thepole-like object and a corresponding diameter. In various embodiments,pole-like objects have a diameter that is equal to or greater than adiameter threshold. Various pole-like objects may have reflectors and/orreflective dots mounted thereon. In various embodiments, narrowpole-like objects (e.g., pole-like objects that have diameters less thana threshold diameter of a pole-like object) may have one or morereflectors and/or reflective dots mounted thereon. The narrow pole-likeobject may then be reported as to the attributes thereof that areassociated with the reflective function of the reflectors and/orreflective dots mounted on the narrow pole-like object.

FIG. 15A illustrates an example pole-like object 1502 along a road 1500.The pole-like object 1502 is a street lamp pole having upper point 1504and lower point 1506. A reflector 1508 is mounted to the pole-likeobject 1502.

FIG. 15B provides an example pole-like object portion 1510 of a mapletcorresponding to the example pole-like object 1502. In an exampleembodiment, the data format of the pole-like object portion 1510 is apredefined and/or predetermined standardized format. The pole-likeobject portion 1510 may comprise a pole-like object id (PLO ID) field.For example, the predefined and/or predetermined, standardized formatcorresponding to the observation class pole-like object may comprise aPLO ID field. In an example embodiment, the value of the PLO ID field isa unique identifier for the real world pole-like object. In an exampleembodiment, the PLO ID is used in case any single real world pole-likeobject has multiple observations accidently returned. For example, thePLO ID may uniquely identify the real world pole-like object within theroad network and/or digital map. In an example embodiment, the pole-likeobject portion 1510 may comprise a timestamp field. For example, thepredefined and/or predetermined, standardized format corresponding tothe observation class pole-like object may comprise a timestamp field.For example, the value of the timestamp field may be the timestamp(e.g., ts) of the sensor capture event whose body frame coordinatesystem instance is used to reference the pole-like object's spatialcoordinate(s). For example, the value of the timestamp field may be thetimestamp of the sensor capture event whose body frame coordinate systeminstance was used to determine the coordinates of the upper point 1504and the diameter of the pole-like object 1502 at the upper point 1504,lower point 1506 and the diameter of the pole-like object 1502 at thelower point 1506, and reflector coordinates for reflector 1508. In anexample embodiment, the pole-like object portion 1510 may comprise anupper point field and an upper diameter field. For example, thepredefined and/or predetermined, standardized format corresponding tothe observation class pole-like object may comprise an upper point fieldand an upper diameter field. For example, the value of the upper pointfield may be the coordinates of the upper point 1504 which is a pointlocated at or near the top of the pole-like object 1502 (e.g., upperpoint 1504). For example, the upper point 1504 may be a point located atthe top of a portion of the pole-like object that is within the field ofview of the sensors 29. The value of the upper diameter field may be anestimate of the diameter of the pole-like object at the upper pointand/or the diameter of a bounding circle at the upper point 1504. Forexample, a bounding circle may be the smallest circle that bounds and/orencompasses the entire pole-like object at a particular point along thepole-like object. For example, the vehicle apparatus 20 may estimate thediameter of a bounding circle for the pole-like object at the upperpoint based on the observation. In an example embodiment, the pole-likeobject portion 1510 may comprise a lower point field and a lowerdiameter field. For example, the predefined and/or predetermined,standardized format corresponding to the observation class pole-likeobject may comprise a lower point field and a lower diameter field. Forexample, the value of the lower point field may be the coordinates ofthe lower point 1506 which is a point located at or near the bottom ofthe pole-like object 1502 (e.g., lower point 1506). For example, thelower point 1506 may be a point located at the bottom of a portion ofthe pole-like object that is within the field of view of the sensors 29.The value of the lower diameter field may be an estimate of the diameterof the pole-like object at the lower point and/or the diameter of abounding circle that bounds the pole-like object about the lower point1506. For example, the vehicle apparatus 20 may estimate the diameter ofa bounding circle for the pole-like object at the lower point based onthe observation. In an example embodiment, the pole-like object portion1510 may comprise a covariance matrix field. For example, the predefinedand/or predetermined, standardized format corresponding to theobservation class pole-like object may comprise a covariance matrixfield. For example, the value of the covariance matrix field may be acovariance matrix for the coordinates of the upper and lower points1504, 1506. A covariance matrix corresponding to the coordinates of theupper and lower points 1504, 1506 is a matrix whose element in the i,jposition is the covariance between the i-th and j-th elements of thecoordinates of the upper or lower point 1504, 1506. In an exampleembodiment, the covariance matrix is a three by three matrix. In anexample embodiment, the pole-like object portion 1510 may comprise adiameter accuracy field. For example, the predefined and/orpredetermined, standardized format corresponding to the observationclass pole-like object may comprise a diameter accuracy field. Forexample, the value of the diameter accuracy field may be an estimatedaccuracy of the upper and lower diameters provided in the upper andlower diameter fields. In an example embodiment, the pole-like objectportion 1510 may comprise a color field. For example, the predefinedand/or predetermined, standardized format corresponding to theobservation class pole-like object may comprise a color field. Forexample, the value of the color field may describe the dominant color ofthe pole-like object.

In various embodiments, the pole-like object portion 1510 may compriseone or more fields relating to reflectors and/or reflective dots mountedto the pole-like object. For example, the pole-like object portion 1510may comprise a reflectivity field. For example, the predefined and/orpredetermined, standardized format corresponding to the observationclass pole-like object may comprise a reflectivity field. For example,the value of the reflectivity field may provide a reflectivity of thepole-like object (e.g., a measure of how reflective and/or thereflectance of the pole-like object). For example, the pole-like objectportion 1510 may comprise a reflector coordinates field. For example,the predefined and/or predetermined, standardized format correspondingto the observation class pole-like object may comprise a reflectorcoordinates field. For example, the value of the reflector coordinatesfield may be a list of the coordinates of any reflectors 1508 mounted tothe pole-like object. In an example embodiment, the pole-like objectportion 1510 may comprise a reflector covariance matrix field. Forexample, the predefined and/or predetermined, standardized formatcorresponding to the observation class pole-like object may comprise areflector covariance matrix field. For example, the value of thereflector covariance matrix field may be a covariance matrix for thecoordinates reflectors 1508 mounted to the pole-like object 1502. Areflector covariance matrix corresponding to the coordinates of thereflectors 1508 mounted to the pole-like object is a matrix whoseelement in the i,j position is the covariance between the i-th and j-thelements of the coordinates of the position of a reflector mounted tothe pole-like object. In an example embodiment, the covariance matrix isa three by three matrix. In various embodiments, the predefined and/orpredetermined standardized format corresponding to the observation classpole-like object may comprise various variations and/or additions to thefields shown in FIG. 15B.

Exemplary Construction Marker Portion

In various embodiments, a maplet may comprise a construction markerportion. For example, if a vehicle apparatus 20 identifies one or moreobservations in a multi-sensor data stream that are associated with theobservation class of construction marker, road information/datacorresponding to the one or more observations may be provided as one ormore construction marker portions of a maplet. For example, in oneembodiment, a maplet comprises a construction marker portion for each ofthe one or more observations that are associated with the observationclass construction marker. In an example embodiment, a maplet comprisesone construction marker portion that includes road information/data foreach of the one or more observations identified in the multi-sensor datastream and associated with the construction marker observation class. Invarious embodiments, construction marker are features such as cones,barrels, delineators, and/or the like.

FIG. 16A illustrates an example construction marker 1602 located along aroad 1600. The construction marker 1604 has an anchor point. An anchorpoint is a point located at the middle of the top of the constructionmarker. For example, for a cone, the anchor point is the topmost pointof the cone and for a barrel the anchor point is the middle of the topof the barrel.

FIG. 16B provides an example construction marker portion 1610 of amaplet corresponding to the example construction object 1602. In anexample embodiment, the data format of the construction marker portion1610 is a predefined and/or predetermined standardized format. Theconstruction marker portion 1610 may comprise a construction marker idfield. For example, the predefined and/or predetermined, standardizedformat corresponding to the observation class construction marker maycomprise a construction marker id field. In an example embodiment, thevalue of the construction marker id field is a unique identifier for thereal world construction marker. In an example embodiment, theconstruction marker id is used in case any single real worldconstruction marker has multiple observations accidently returned. Forexample, the construction marker id may uniquely identify the real worldconstruction marker within the road network and/or digital map. In anexample embodiment, the construction marker portion 1610 may comprise atimestamp field. For example, the predefined and/or predetermined,standardized format corresponding to the observation class constructionmarker may comprise a timestamp field. For example, the value of thetimestamp field may be the timestamp (e.g., ts) of the sensor captureevent whose body frame coordinate system instance is used to referencethe construction marker's spatial coordinate(s). For example, the valueof the timestamp field may be the timestamp of the sensor capture eventwhose body frame coordinate system instance was used to determine thecoordinates of the anchor point 1604. In an example embodiment, theconstruction marker portion 1610 may comprise an anchor point field. Forexample, the predefined and/or predetermined, standardized formatcorresponding to the observation class construction marker may comprisean anchor point field. For example, the value of the anchor point fieldmay be the coordinates of the anchor point 1604. In an exampleembodiment, the construction marker portion 1610 may comprise acovariance matrix field. For example, the predefined and/orpredetermined, standardized format corresponding to the observationclass construction marker may comprise a covariance matrix field. Forexample, the value of the covariance matrix field may be a covariancematrix for the coordinates of the anchor point 1604. A covariance matrixcorresponding to the coordinates of the anchor point 1604 is a matrixwhose element in the i,j position is the covariance between the i-th andj-th elements of the coordinates of the anchor point 1604. In an exampleembodiment, the construction marker portion 1610 may comprise a colorfield. For example, the predefined and/or predetermined, standardizedformat corresponding to the observation class construction marker maycomprise a color field. For example, the value of the color field maydescribe the dominant color of the construction marker. In an exampleembodiment, the construction marker portion 1610 may comprise a typefield. For example, the predefined and/or predetermined, standardizedformat corresponding to the observation class construction marker maycomprise a type field. For example, the value of the type field may thetype (e.g., cone, barrel, delineator, and/or the like) of theconstruction marker. In various embodiments, the predefined and/orpredetermined standardized format corresponding to the observation classconstruction marker may comprise various variations and/or additions tothe fields shown in FIG. 16B.

Exemplary Traffic Signal Portion

In various embodiments, a maplet may comprise a traffic signal portion.For example, if a vehicle apparatus 20 identifies one or moreobservations in a multi-sensor data stream that are associated with theobservation class of traffic signal, road information/data correspondingto the one or more observations may be provided as one or more trafficsignal portions of a maplet. For example, in one embodiment, a mapletcomprises a traffic signal portion for each of the one or moreidentified observations that are associated with the observation classtraffic signal. In an example embodiment, a maplet comprises one trafficsignal portion that includes road information/data for each of the oneor more observations identified in the observation and associated withthe traffic signal observation class. In various embodiments, trafficsignals are physical, real world objects associated with the roadnetwork and containing signal lights. The lights may be arrangedvertically, horizontally, or in mixed configurations. Traffic signalscontrol the stop-and-go motions of vehicles. In an example embodiment,Tram Signals; Lane Status Signals for tunnels, toll structures, and/orthe like; Pedestrian Signals for walking, bicycles, and/or the like arenot considered traffic signals.

FIG. 17A illustrates an example traffic signal 1702. The traffic signal1702 is bounded by bounding polygon 1704. For example, the boundingpolygon 1704 is a bounding rectangle. In an example embodiment, thebounding polygon 1704 is large enough to bound (e.g., contain) theentire traffic signal 1702. In an example embodiment, the boundingpolygon 14704 is the smallest polygon of a particular order (e.g.,number of vertices and/or sides) that bounds the traffic signal 1702.FIG. 17A shows the bounding polygon 1704 being slightly larger than thetraffic signal 1702 for clarity. In various embodiments, the boundingpolygon 1704 is a two dimensional polygon defined in the same plane asthe face 1706 of the traffic signal 1702. The bounding polygon 1704 isdefined by vertex points (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), and(x4, y4, z4) located at the vertices of the bounding polygon.

FIG. 17B provides an example traffic signal portion 1710 of a mapletcorresponding to the example traffic signal 1702. In an exampleembodiment, the data format of the traffic signal portion 1710 is apredefined and/or predetermined standardized format. The traffic signalportion 1710 may comprise a traffic signal id field. For example, thepredefined and/or predetermined, standardized format corresponding tothe observation class traffic signal may comprise a traffic signal idfield. In an example embodiment, the value of the traffic signal idfield is a unique identifier for the real world traffic signal. In anexample embodiment, the traffic signal id is used in case any singlereal world traffic signal has multiple observations accidently returned.For example, in general a maplet should only contain one maplet portionand/or road information/data for one instance of observing a real worldobject. For example, the traffic signal id may uniquely identify thereal world traffic signal within the road network and/or digital map. Inan example embodiment, the traffic signal portion 1710 may comprise atimestamp field. For example, the predefined and/or predetermined,standardized format corresponding to the observation class trafficsignal may comprise a timestamp field. For example, the value of thetimestamp field (e.g., ts) may be the timestamp of the sensor captureevent whose body frame coordinate system instance was used to determinethe coordinates of the vertex points defining the bounding polygon 1704.In an example embodiment, the traffic signal portion 1710 may comprise abounding polygon field. For example, the predefined and/orpredetermined, standardized format corresponding to the observationclass traffic signal may comprise a bounding polygon field. For example,the value of the bounding polygon field may be vertex points (e.g., (x1,y1, z1), (x2, y2, z2), (x3, y3, z3), (x4, y4, z4)) that indicate thelocation of the vertices of a polygon that bounds the traffic signal1702. In an example embodiment, the bounding polygon is rectangle (e.g.,a regular polygon of order four). In various embodiments, the vertexpoints may be provided as two or three dimensional points. In an exampleembodiment, the traffic signal portion 1710 may comprise a covariancematrix field. For example, the predefined and/or predetermined,standardized format corresponding to the observation class trafficsignal may comprise a covariance matrix field. For example, the value ofthe covariance matrix field may be a covariance matrix for thecoordinates of the vertex points defining the bounding polygon 1704. Acovariance matrix corresponding to the vertex points is a matrix whoseelement in the i,j position is the covariance between the i-th and j-thelements of the coordinates of a vertex point. In an example embodiment,the covariance matrix is a three by three matrix.

The traffic signal portion 1710 may comprise a horizontal tier countfield and/or a vertical tier count field. For example, the predefinedand/or predetermined, standardized format corresponding to theobservation class traffic signal may comprise a horizontal tier countfield and/or a vertical tier count field. In an example embodiment, thevalue of the horizontal tier count field is the number of tiers oflights (e.g. the number of columns of lights) for horizontally orientedlights. In an example embodiment, the value of the vertical tier countfield is the number of tiers of lights (e.g., the number of rows oflights) for vertically oriented lights. For example, the sample trafficsignal 1702 is a vertically oriented light and thus the horizontal tiercount field is not populated and the vertical tier count field ispopulated with the value three because the sample traffic signal hasthree rows of lights. The traffic signal portion 1710 may comprise ahorizontal tier light count field and/or a vertical tier light countfield. For example, the predefined and/or predetermined, standardizedformat corresponding to the observation class traffic signal maycomprise a horizontal tier light count field and/or a vertical tierlight count field. In an example embodiment, the value of the horizontaltier light count is a list and/or array having as many entries as thenumber of horizontal tiers of the traffic signal. Each entry indicateshow many lights are in the corresponding horizontal tier of lights. Thesample traffic signal 1702 is not a horizontally oriented light, andthus, in the illustrated example embodiment, the value of thehorizontally tier light count field is 0. In an example embodiment, thevalue of the vertical tier light count is a list and/or array having asmany entries as the number of vertical tiers of the traffic signal. Eachentry indicates how many lights are in the corresponding vertical tierof lights. The sample traffic signal 1702 has three vertical tiers oflights with the bottom tier having two lights, the middle tier havingtwo lights, and the top tier having one light. The value of the verticaltier light count reflects this configuration of the lights in the sampletraffic signal 1702. In various embodiments, the predefined and/orpredetermined standardized format corresponding to the observation classtraffic signal may comprise various variations and/or additions to thefields shown in FIG. 17B.

Exemplary Driving Surface Edge Portion

In various embodiments, a maplet may comprise a driving surface edgeportion. For example, if a vehicle apparatus 20 identifies one or moreobservations in a multi-sensor data stream that are associated with theobservation class of driving surface edge, road information/datacorresponding to the one or more observations may be provided as one ormore driving surface edge portions of a maplet. For example, in oneembodiment, a maplet comprises a driving surface edge portion for eachof the one or more identified observations that are associated with theobservation class driving surface edge. In an example embodiment, amaplet comprises one driving surface edge portion that includes roadinformation/data for each of the one or more observations identified inthe multi-sensor data stream and associated with the driving surfaceedge observation class. In various embodiments, the driving surface edgeis the edge of the pavement that provides the driving surface of thatportion of the road network. In various embodiments, a driving surfaceedge is the edge of a roadway where the surface of the adjacent to theroadway transitions to a material that is different from that of thedriving surface. For example, for a paved driving surface, a drivingsurface edge is the edge of the roadway where the paved surfacetransitions to dirt, gravel, or other non-pavement material. In variousscenarios, the driving surface edges may be somewhat ragged and poorlydefined. In various embodiments, the driving surface edge is defined tobe “on grade” transitions from the driving surface (e.g., paved surface)to a different material surface (e.g., non-paved surface, such as dirt,gravel, grass, and/or the like). In an example embodiment, themeasurement rate for driving surface edge sample point coordinates is apredetermined and/or predefined spatial sampling rate. In an exampleembodiment, the predetermined and/or predefined spatial sampling rate isone sample point per meter.

FIG. 18A illustrates an example driving surface edge 1802 located alongthe edge of a road 1800. In the illustrated embodiment, the drivingsurface edge 1802 is an edge of the shoulder 1806. Sample points 1804A,1804B are located along the observed driving surface edge 1802.

FIG. 18B provides an example driving surface edge portion 1810 of amaplet corresponding to the example driving surface edge 1802. In anexample embodiment, the data format of the driving surface edge portion1810 is a predefined and/or predetermined standardized format. Thedriving surface edge portion 1810 may comprise a timestamp field. Forexample, the predefined and/or predetermined, standardized formatcorresponding to the observation class driving surface edge may comprisea timestamp field. For example, the value of the timestamp field may bea list and/or array of timestamps (e.g., t1, . . . tn) of the sensorcapture events whose body frame coordinate system instance is used toreference a corresponding sample point along the driving surface edge'sspatial coordinate(s). For example, the ith value of the timestamp fieldmay be the timestamp of the sensor capture event whose body framecoordinate system instance was used to determine the coordinates of theith sample point 1804. In an example embodiment, the driving surfaceedge portion 1810 may comprise a sample point field. For example, thepredefined and/or predetermined, standardized format corresponding tothe object driving surface edge may comprise a sample point field. Forexample, the value of the sample point field may be a list or array ofthe coordinates of the sample points 1804 (e.g., 1804A, 1804B). Each ofthe sample points are located on the driving surface edge detectedand/or identified in the observation. The driving surface edge samplepoints are located at intervals in accordance with the predeterminedand/or predefined spatial sampling rate. For example, the drivingsurface edge sample points may be located at intervals of one meteralong the driving surface edge, in an example embodiment. In an exampleembodiment, the driving surface edge portion 1810 may comprise a drivingsurface edge relative position field. For example, the predefined and/orpredetermined, standardized format corresponding to the object drivingsurface edge may comprise a driving surface edge relative positionfield. For example, the value of the driving surface edge relativeposition field may indicate the position of the driving surface edgerelative to the vehicle 5. For example, in an example embodiment, thevalue of the driving surface edge relative position field is either leftor right. In various embodiments, the predefined and/or predeterminedstandardized format corresponding to the observation class drivingsurface edge may comprise various variations and/or additions to thefields shown in FIG. 18B.

Exemplary Roadside Barrier Portion

In various embodiments, a maplet may comprise a roadside barrierportion. For example, if a vehicle apparatus 20 identifies one or moreobservations in a multi-sensor data stream that are associated with theobservation class of roadside barrier, road information/datacorresponding to the one or more observation may be provided as one ormore roadside barrier portions of a maplet. For example, in oneembodiment, a maplet comprises a roadside barrier portion for each ofthe one or more identified observation that are associated with theobservation class roadside barrier. In an example embodiment, a mapletcomprises one roadside barrier portion that includes roadinformation/data for each of the one or more observations identified inthe multi-sensor data stream and associated with the roadside barrierobservation class. In various embodiments, roadside barriers are definedas guard rails, embankments, road wall, and similar continuous solidboundaries located along the outer edge of a road way. In an exampleembodiment, a roadside barrier has a height of at least a minimum heightabove the road surface. In an example embodiment, the minim height is 50cm. In an example embodiment, roadside barriers include an agglomerationof closely spaced pole-like objects (e.g., a set of pole-like objectsthat are less than the pole-like object minimum separation distanceapart).

In an example embodiment, the measurement rate for driving surface edgesample point coordinates is a predetermined and/or predefined spatialsampling rate along the length of the roadside barrier. In an exampleembodiment, the predetermined and/or predefined spatial sampling rate isone sample point per meter. In an example embodiment, sample points arecollected along the top edge of the roadside barrier, if the top edge isvisible to the vehicle's 5 sensor(s) 29. If the top edge of a roadsidebarrier is not visible to the sensor(s) 29, sample points may becollected at the highest points of the roadside barrier visible to thesensor(s) 29. For roadside barriers higher than 0.5 meters (e.g., 50cm), it is preferred to collect multiple parallel polylines of samplepoints at a vertical sampling rate, in an example embodiment. Forexample, the vertical sampling rate may be one sample point for every0.5 meters of roadside barrier height. In an example embodiment, if itis not possible to collect sample points at multiple vertical positionsalong the height of the roadside barrier, it is sufficient to collectsample points along the topmost polyline of the roadside barrier (e.g.,along the top surface of the roadside barrier or the top of the portionof the roadside barrier visible to the sensor(s) 29). In variousembodiments, sample points are collected whenever the height of theroadside barrier transitions from less than a minimal height (e.g., 0.5meters in height) to greater than the minimal height. For example,sample points may be taken at the beginning of the roadside barrier(e.g., when the roadside barrier reaches the minimum height). In variousembodiments, sample points are collected whenever the height of theroadside barrier transitions from greater than the minimal height (e.g.,0.5 meters) to less than the minimal height. For example, sample pointsmay be taken at the end of the roadside barrier (e.g., when the roadsidebarrier goes below the minimum height).

FIG. 19A illustrates an example roadside barrier 1902 located along theedge of a road 1900. In the illustrated embodiment, the roadside barrier1902 is located at the outer edge of the shoulder 1906. Sample points1904A, 1904B are located along the top edge and/or a polyline of theroadside barrier 1902.

FIG. 19B provides an example roadside barrier portion 1910 of a mapletcorresponding to the example roadside barrier 1902. In an exampleembodiment, the data format of the roadside barrier portion 1910 is apredefined and/or predetermined standardized format. The roadsidebarrier portion 1910 may comprise a roadside barrier id field. Forexample, the predefined and/or predetermined, standardized formatcorresponding to the observation class roadside barrier may comprise aroadside barrier id field. In an example embodiment, the value of theroadside barrier id field is a unique identifier for the real worldroadside barrier. In an example embodiment, the roadside barrier id isused in case any single real world roadside barrier has multipleobservations accidently returned. For example, in general a mapletshould only contain one maplet portion and/or road information/data forone instance of observing a real world object. For example, the roadsidebarrier id may uniquely identify the real world roadside barrier withinthe road network and/or digital map. The roadside barrier portion 1910may comprise a timestamp field. For example, the predefined and/orpredetermined, standardized format corresponding to the observationclass roadside barrier may comprise a timestamp field. For example, thevalue of the timestamp field may be a list and/or array of timestamps(e.g., t1, . . . tn) of the sensor capture events whose body framecoordinate system instance is used to reference a corresponding samplepoint along the driving surface edge's spatial coordinate(s). Forexample, the ith value of the timestamp field may be the timestamp ofthe sensor capture event whose body frame coordinate system instance wasused to determine the coordinates of the ith sample point 1904. In anexample embodiment, the roadside barrier portion 1910 may comprise asample point field. For example, the predefined and/or predetermined,standardized format corresponding to the object roadside barrier maycomprise a sample point field. For example, the value of the samplepoint field may be a list or array of the coordinates of the samplepoints 1904 (e.g., 1904A, 1904B). Each of the sample points are locatedon a polyline (and/or top visible surface) of the roadside barrierdetected and/or identified in the observation. The roadside barriersample points are located at intervals in accordance with thepredetermined and/or predefined spatial sampling rate. For example, theroadside barrier sample points may be located at intervals of one meteralong the length of roadside barrier, in an example embodiment. In anexample embodiment, the sample points include a beginning of theroadside barrier and/or an end of the roadside barrier if the beginningor end of the roadside barrier is within/along the trajectory segmentrepresented by the maplet. In an example embodiment, the sample pointsare located at vertical intervals in accordance with the verticalsampling rate. In an example embodiment, the roadside barrier portion1910 may comprise a type field. For example, the predefined and/orpredetermined, standardized format corresponding to the observationclass roadside barrier may comprise a type field. For example, the valueof the type field may indicate a type corresponding to the roadsidebarrier 1902. For example, in an example embodiment, the value of thetype field may be guard rail, Jersey barrier, curb, wall, fence,unknown, and/or the like. In various embodiments, the predefined and/orpredetermined standardized format corresponding to the observation classroadside barrier may comprise various variations and/or additions to thefields shown in FIG. 19B.

Exemplary Lane Marking Portion

In various embodiments, a maplet may comprise a lane marking portion.For example, if a vehicle apparatus 20 identifies one or moreobservations in a multi-sensor data stream that are associated with theobservation class of lane marking, road information/data correspondingto the one or more observations may be provided as one or more lanemarking portions of a maplet. For example, in one embodiment, a mapletcomprises a lane marking portion for each of the one or more identifiedobservations that are associated with the observation class lanemarking. In an example embodiment, a maplet comprises one roadsidebarrier portion that includes road information/data for each of the oneor more observations identified in the multi-sensor data stream andassociated with the lane marking observation class. In variousembodiments, lane markings are markings on the road surface that denotethe boundaries of lanes of the road network. Lane markings may be solidlines or dashed lines. Sample points may be taken along the length of alane marking line. For example, a sample point is a point that lieswithin the lateral boundaries of the lane marking line. If a lanemarking is part of a double line lane marking, sample points arecollected on both lane marking lines, in an example embodiment. Invarious embodiments, a maplet may contain road information/data for lanemarkings immediately to the right and immediately to the left of thevehicle 5. For example, the maplet may contain road information/data forlane markings defining the location on the road surface of the lanewithin which the vehicle 5 is traveling. In an example embodiment, roadinformation/data corresponding to other lane markings may be provided bythe maplet (e.g., a lane marking corresponding to another lane of theroad other than the lane the vehicle 5 is traveling in). In an exampleembodiment, the measurement rate for lane marking sample pointcoordinates along a solid lane marking line is a predetermined and/orpredefined spatial sampling rate along the length of the lane markingline. In an example embodiment, the predetermined and/or predefinedspatial sampling rate is one sample point per meter. In an exampleembodiment, when the lane marking is a dashed line, a sample point iscollected for the beginning and/or end point of each dashed element ofthe dashed lane marking line.

FIG. 20A illustrates an example dashed lane marking line 2002 and asolid lane marking line 2006. Sample points 2004A, 2004B, 2004C, 2004D,2004E, 2004F, 2004G are located at the beginning and ends, respectively,of the dashed elements of the dashed lane marking line 2002. Samplepoints 2008A, 2008B, 2008C, 2008D, 2008E are located on the solid lanemarking line 2006 and are spaced in accordance with the predeterminedand/or predefined spatial sample rate.

FIG. 20B provides an example lane marking portion 2010 of a mapletcorresponding to the example lane marking 2002. In an exampleembodiment, the data format of the lane marking portion 2010 is apredefined and/or predetermined standardized format. The lane markingportion 2010 may comprise a line id field. For example, the predefinedand/or predetermined, standardized format corresponding to theobservation class lane marking may comprise a line id field. In anexample embodiment, the value of the line id field is a uniqueidentifier for the real world lane marking line. In an exampleembodiment, the line id is used in case any single real world lanemarking line has multiple observations accidently returned. For example,in general a maplet should only contain one maplet portion and/or roadinformation/data for one instance of observing a real world object. Forexample, the line id may uniquely identify the real world lane markingline within the road network and/or digital map. For example, the laneid may be used to group sample points on the same physical lane markingline into logical sets. In an example embodiment, when a singleconstantly tracked lane marking line splits into multiple separate lanemarking lines, multiple new unique line ids will be assigned to each ofthe separate lane marking lines, starting at the split point.Conversely, in an example embodiment, when multiple, separate trackedlane marking lines merge into a single lane marking line, a new uniqueline id will be assigned to that separate single lane marking line,starting at the merge point. In an example embodiment, when lane markinglines come as paired double lane markings (e.g., double lines), thesample points collected on each lane marking line will have their ownseparate line ids.

The lane marking portion 2010 may comprise a timestamp field. Forexample, the predefined and/or predetermined, standardized formatcorresponding to the observation class lane marking may comprise atimestamp field. For example, the value of the timestamp field may be alist and/or array of timestamps (e.g., t1, . . . tn) of the sensorcapture events whose body frame coordinate system instance is used toreference a corresponding sample point on the lane marking line'sspatial coordinate(s). For example, the ith value of the timestamp fieldmay be the timestamp of the sensor capture event whose body framecoordinate system instance was used to determine the coordinates of theith sample point 2004. In an example embodiment, the lane markingportion 2010 may comprise a sample point field. For example, thepredefined and/or predetermined, standardized format corresponding tothe object lane marking may comprise a sample point field. For example,the value of the sample point field may be a list or array of thecoordinates of the sample points 2004 (e.g., 2004A, 2004B, . . . 2004G).Each of the sample points are located on (e.g., within the lateralextent) of the corresponding lane marking line detected and/oridentified in the observation. The lane marking sample points arelocated at intervals in accordance with the predetermined and/orpredefined spatial sampling rate, for solid lane marking lines, or at abeginning and/or end point of a dashed element of the lane marking line,for dashed lane marking lines. For example, the lane marking samplepoints may be located at intervals of one meter along the length ofsolid lane marking line 2006, in an example embodiment. In an exampleembodiment, the sample points may be located at a beginning and/or anend of a dashed element of a dashed lane marking line 2002. In anexample embodiment, the lane marking portion 2010 may comprise a markingwidth field. For example, the predefined and/or predetermined,standardized format corresponding to the observation class lane markingmay comprise a marking width field. In an example embodiment, the valueof the marking width field indicates the width of the lane marking linein a direction transverse and/or perpendicular to the direction oftraffic flow along the corresponding travel lane of the road network. Inan example embodiment, the lane marking portion 2010 may comprise amarking separation field. For example, the predefined and/orpredetermined, standardized format corresponding to the observationclass lane marking may comprise a marking separation field. In anexample embodiment, the value of the marking separation field indicatesthe separation between two logically paired, double lane markings. Forexample, the value of the marking separation field, for lane markings oftype double, may be the distance between adjacent inner edges of the twologically paired lane markings, in an example embodiment. In an exampleembodiment, the lane marking portion 2010 may comprise a style field anda type field. For example, the predefined and/or predetermined,standardized format corresponding to the observation class lane markingmay comprise a style field and type field. In an example embodiment, thevalue of the style field indicates whether the lane marking line is asolid lane marking line or a dashed lane marking line. In an exampleembodiment, the value of the type field indicates whether the lanemarking line is a single lane marking line or is a double lane markingline (e.g., a lane marking line that is logically paired to an adjacentlane marking line). In an example embodiment, the lane marking portion2010 may comprise a material field and a color field. For example, thepredefined and/or predetermined, standardized format corresponding tothe observation class lane marking may comprise a material field and acolor field. In an example embodiment, the value of the material fieldindicates the material out of which the lane marking line is made. Forexample, in various embodiments the value of the material field may bepaint, mechanical (e.g., bott's dots), or both. In an exampleembodiment, the value of the color field indicates the color of the lanemarking line (e.g., white, yellow, orange, and/or the like). In variousembodiments, the predefined and/or predetermined standardized formatcorresponding to the observation class lane marking may comprise variousvariations and/or additions to the fields shown in FIG. 20B.

Technical Advantages

Accurate map information/data is important for the proper functioning ofautonomous and ADAS vehicles. However, a road network is not static.Various embodiments of the present invention provide methods,apparatuses, systems, computer program products, and/or the like forproviding a digital map that is correct, accurate, and up-to-date suchthat the digital map is an effective tool for performing navigationfunctions that enable navigation of a road network by an autonomous,self-driving vehicle, an advanced driver assistances system (ADAS),and/or a human operator. Various embodiments of the present inventionprovide technical solutions to the technical problem of transmittingsufficient and rich enough road information/data for maintaining andupdating the digital map while not overwhelming the limited bandwidthnetwork over which the road information/data is transmitted. Variousembodiments of the present invention provide technical solutions to thetechnical problem of using sensor information/data captured by aplurality of vehicles having a variety of (possibly proprietary) sensorconfigurations onboard to build a coherent, self-consistent, andaccurate representation of the road network (e.g., the digital map). Invarious embodiments, the maplets and corresponding methods, apparatuses,systems, and/or computer program products provide technical solutions tothese technical problems by providing a maplet that provides roadinformation/data in a predetermined/predefined, standardized data formatusing a predetermined/predefined, standardized data model and that isconfigured to be an efficient information/data packet so as to reducethe bandwidth needed to communicate the road information/data such thatroad information/data may be automatically, efficiently, and timelyprovided by the vehicle apparatus 20 to the network apparatus 10 for usein maintaining and updating the digital map. By having the vehicleapparatus 20 prepare and provide the maplet, a significantly smalleramount of bandwidth is used than if the vehicle apparatus 20 were totransmit the raw sensor information/data needed to create the maplet. Byprocessing the raw sensor information/data onboard the vehicle 5 (e.g.,by the vehicle apparatus 20), the network apparatus 10 may not need toknow the details of the variety of (possibly proprietary) sensorconfigurations onboard the various vehicles 5 providing the maplets. Byproviding maplets in the predetermined/predefined standardized format,the size of the maplets may be minimized and/or reduced as thepredetermined/predefined standardized format prevents transmission ofsuperfluous content. Additionally, the predetermined/predefinedstandardized format allows the network apparatus 10 to efficiently mergea plurality of maplets provided by a plurality of vehicles, validate mapinformation/data, and/or generate map updates such that the digital mapmay be maintained. For example, the efficient predetermined/predefinedstandardized format enables the network apparatus 10, in variousembodiments, to update the digital map in near real time or real timewith respect to changes in the road network.

Various embodiments of the present invention provide for efficientcommunication of changes in a road network that are detected by avehicle apparatus 20 to a network apparatus 10 for updating of thedigital map. For example, the information/data regarding the change tothe network may be encapsulated in a maplet that is configured to be anefficient information/data packet so as to reduce the bandwidth neededto communicate the information/data regarding the change to the roadnetwork. Thus, various embodiments of the present invention provide forovercoming the technical challenge of being able to provide accurate andtimely updates to a digital map. The digital map may then be used by thevehicle apparatus 20 to perform various navigation functions. Thus,various embodiments provide an improvement to navigation technology byproviding for efficient and accurate updating of a digital map for useby a vehicle apparatus (e.g., navigation apparatus, ADAS, autonomousvehicle, and/or the like) in performing navigation functions.

III. Example Apparatus

The network apparatus 10, vehicle apparatus 20, and/or intermediaryapparatus 30 of an example embodiment may be embodied by or associatedwith a variety of computing devices including, for example, a navigationsystem including an in-vehicle navigation system, a vehicle controlsystem, a personal navigation device (PND) or a portable navigationdevice, an advanced driver assistance system (ADAS), a global navigationsatellite system (GNSS), a cellular telephone, a mobile phone, apersonal digital assistant (PDA), a watch, a camera, a computer, and/orother device that can perform navigation-related functions, such asdigital routing and map display. Additionally or alternatively, thenetwork apparatus 10, vehicle apparatus 20, and/or intermediaryapparatus 30 may be embodied in other types of computing devices, suchas a server, a personal computer, a computer workstation, a laptopcomputer, a plurality of networked computing devices or the like, thatare configured to update one or more map tiles, analyze probe points forroute planning or other purposes. In an example embodiment, a vehicleapparatus 20 is an in-vehicle navigation system onboard a vehicle 5 or amobile device, a network apparatus 10 is a server, and an intermediaryapparatus 30 is a server. In this regard, FIG. 2A depicts an examplenetwork apparatus 10, FIG. 2B depicts an example vehicle apparatus 20,and FIG. 2C depicts an example intermediary apparatus 30 that may beembodied by various computing devices including those identified above.As shown, the network apparatus 10 of an example embodiment may include,may be associated with, or may otherwise be in communication with aprocessor 12 and a memory device 14 and optionally a communicationinterface 16 and/or a user interface 18. Similarly, a vehicle apparatus20 of an example embodiment may include, may be associated with, or mayotherwise be in communication with a processor 22 and a memory device 24and optionally a communication interface 26, a user interface 28, one ormore sensors 29 (e.g., a location sensor such as a GNSS sensor, IMUsensors, and/or the like; camera(s); 2D and/or 3D LiDAR(s); long,medium, and/or short range RADAR; ultrasonic sensors; electromagneticsensors; (near-)IR cameras, 3D cameras, 360° cameras; and/or othersensors that enable the probe apparatus to determine one or morefeatures of the corresponding vehicle's 5 surroundings), and/or othercomponents configured to perform various operations, procedures,functions, or the like described herein. In an example embodiment, anintermediary apparatus 30 may include, may be associated with, or mayotherwise be in communication with a processor 32, a memory device 34,and a communication interface 36, and/or other components configured toperform various operations, procedures, functions, or the like describedherein.

In some embodiments, the processor 12, 22, 32 (and/or co-processors orany other processing circuitry assisting or otherwise associated withthe processor) may be in communication with the memory device 14, 24, 34via a bus for passing information among components of the apparatus. Thememory device may be non-transitory and may include, for example, one ormore volatile and/or non-volatile memories. In other words, for example,the memory device may be an electronic storage device (e.g., anon-transitory computer readable storage medium) comprising gatesconfigured to store data (e.g., bits) that may be retrievable by amachine (e.g., a computing device like the processor). The memory devicemay be configured to store information, data, content, applications,instructions, or the like for enabling the apparatus to carry outvarious functions in accordance with an example embodiment of thepresent invention. For example, the memory device could be configured tobuffer input data for processing by the processor. Additionally oralternatively, the memory device could be configured to storeinstructions for execution by the processor.

As described above, the network apparatus 10, vehicle apparatus 20,and/or intermediary apparatus 30 may be embodied by a computing device.However, in some embodiments, the apparatus may be embodied as a chip orchip set. In other words, the apparatus may comprise one or morephysical packages (e.g., chips) including materials, components and/orwires on a structural assembly (e.g., a baseboard). The structuralassembly may provide physical strength, conservation of size, and/orlimitation of electrical interaction for component circuitry includedthereon. The apparatus may therefore, in some cases, be configured toimplement an embodiment of the present invention on a single chip or asa single “system on a chip.” As such, in some cases, a chip or chipsetmay constitute means for performing one or more operations for providingthe functionalities described herein.

The processor 12, 22, 32 may be embodied in a number of different ways.For example, the processor 12, 22, 32 may be embodied as one or more ofvarious hardware processing means such as a coprocessor, amicroprocessor, a controller, a digital signal processor (DSP), aprocessing element with or without an accompanying DSP, or various otherprocessing circuitry including integrated circuits such as, for example,an ASIC (application specific integrated circuit), an FPGA (fieldprogrammable gate array), a microcontroller unit (MCU), a hardwareaccelerator, a special-purpose computer chip, or the like. As such, insome embodiments, the processor 12, 22, 32 may include one or moreprocessing cores configured to perform independently. A multi-coreprocessor may enable multiprocessing within a single physical package.Additionally or alternatively, the processor 12, 22, 32 may include oneor more processors configured in tandem via the bus to enableindependent execution of instructions, pipelining and/or multithreading.

In an example embodiment, the processor 12, 22, 32 may be configured toexecute instructions stored in the memory device 14, 24, 34 or otherwiseaccessible to the processor. For example, the processor 22 may beconfigured to execute computer-executable instructions embedded within alink record of a map tile and/or provided as part of a travel plan.Alternatively or additionally, the processor 12, 22, 32 may beconfigured to execute hard coded functionality. As such, whetherconfigured by hardware or software methods, or by a combination thereof,the processor may represent an entity (e.g., physically embodied incircuitry) capable of performing operations according to an embodimentof the present invention while configured accordingly. Thus, forexample, when the processor is embodied as an ASIC, FPGA or the like,the processor may be specifically configured hardware for conducting theoperations described herein. Alternatively, as another example, when theprocessor is embodied as an executor of software instructions, theinstructions may specifically configure the processor to perform thealgorithms and/or operations described herein when the instructions areexecuted. However, in some cases, the processor may be a processor of aspecific device (e.g., a pass-through display or a mobile terminal)configured to employ an embodiment of the present invention by furtherconfiguration of the processor by instructions for performing thealgorithms and/or operations described herein. The processor mayinclude, among other things, a clock, an arithmetic logic unit (ALU) andlogic gates configured to support operation of the processor.

In some embodiments, the network apparatus 10 and/or vehicle apparatus20 may include a user interface 18, 28 that may, in turn, be incommunication with the processor 12, 22 to provide output to the user,such as one or more instances of map information/data and/or graphicalpresentations thereof, one or more routes through a road network, and/orthe output of one or more other navigation functions, and, in someembodiments, to receive an indication of a user input. As such, the userinterface may include one or more output devices such as a display,speaker, and/or the like and, in some embodiments, may also include oneor more input devices such as a keyboard, a mouse, a joystick, a touchscreen, touch areas, soft keys, a microphone, a speaker, or otherinput/output mechanisms. Alternatively or additionally, the processormay comprise user interface circuitry configured to control at leastsome functions of one or more user interface elements such as a displayand, in some embodiments, a speaker, ringer, microphone and/or the like.The processor and/or user interface circuitry comprising the processormay be configured to control one or more functions of one or more userinterface elements through computer program instructions (e.g., softwareand/or firmware) stored on a memory accessible to the processor 12, 22,32 (e.g., memory device 14, 24, 34 and/or the like).

The network apparatus 10, vehicle apparatus 20, and/or intermediaryapparatus 30 may include a communication interface 16, 26, 36. Thecommunication interface may be any means such as a device or circuitryembodied in either hardware or a combination of hardware and softwarethat is configured to receive and/or transmit data from/to a networkand/or any other device or module in communication with the apparatus.In this regard, the communication interface may include, for example, anantenna (or multiple antennas) and supporting hardware and/or softwarefor enabling communications with a wireless communication network.Additionally or alternatively, the communication interface may includethe circuitry for interacting with the antenna(s) to cause transmissionof signals via the antenna(s) or to handle receipt of signals receivedvia the antenna(s). In some environments, the communication interfacemay alternatively or also support wired communication. As such, forexample, the communication interface may include a communication modemand/or other hardware/software for supporting communication via cable,digital subscriber line (DSL), universal serial bus (USB) or othermechanisms.

In addition to embodying the network apparatus 10, vehicle apparatus 20,and/or intermediary apparatus 30 of an example embodiment, a navigationsystem may also include or have access to a geographic database thatincludes a variety of data (e.g., map information/data) utilized inconstructing a route or navigation path, determining the time totraverse the route or navigation path, matching a geolocation (e.g., aGNSS determined location) to a point on a map, a lane of a lane network,and/or link, one or more localization features and a correspondinglocation of each localization feature, and/or the like. For example, ageographic database may include road segment or link data records, pointof interest (POI) data records, localization feature data records, andother data records. More, fewer or different data records can beprovided. In one embodiment, the other data records include cartographic(“carto”) data records, routing data, and maneuver data. One or moreportions, components, areas, layers, features, text, and/or symbols ofthe POI or event data can be stored in, linked to, and/or associatedwith one or more of these data records. For example, one or moreportions of the POI, event data, or recorded route information can bematched with respective map or geographic records via position or GNSSdata associations (such as using known or future map matching orgeo-coding techniques), for example. In an example embodiment, the datarecords may comprise nodes, connection information/data, intersectiondata records, link data records, POI data records, and/or other datarecords. In an example embodiment, the network apparatus 10 may beconfigured to modify, update, and/or the like one or more data recordsof the geographic database. For example, the network apparatus 10 maymodify, update, generate, and/or the like map information/datacorresponding to links, road segments, nodes, intersection, and/or thelike and/or the corresponding data records, a localization layer (e.g.,comprising localization features) and/or the corresponding data records,and/or the like.

In an example embodiment, the road segment data records are links orsegments, e.g., maneuvers of a maneuver graph, representing roads,streets, or paths, as can be used in the calculated route or recordedroute information for determination of one or more personalized routes.The intersection data records are end points corresponding to therespective links or segments of the road segment data records. The roadlink data records and the intersection data records represent a roadnetwork, such as used by vehicles, cars, and/or other entities.Alternatively, the geographic database can contain path segment andintersection data records or nodes and connection information/data orother data that represent pedestrian paths or areas in addition to orinstead of the vehicle road record data, for example.

The road/link segments, intersections, and/or nodes can be associatedwith attributes, such as geographic coordinates, street names, addressranges, speed limits, turn restrictions at intersections, and othernavigation related attributes, as well as POIs, such as gasolinestations, hotels, restaurants, museums, stadiums, offices, automobiledealerships, auto repair shops, buildings, stores, parks, etc. Thegeographic database can include data about the POIs and their respectivelocations in the POI data records. The geographic database can alsoinclude data about places, such as cities, towns, or other communities,and other geographic features, such as bodies of water, mountain ranges,etc. Such place or feature data can be part of the POI data or can beassociated with POIs or POI data records (such as a data point used fordisplaying or representing a position of a city). In addition, thegeographic database can include and/or be associated with event data(e.g., traffic incidents, constructions, scheduled events, unscheduledevents, etc.) associated with the POI data records or other records ofthe geographic database.

The geographic database can be maintained by the content provider (e.g.,a map developer) in association with the services platform. By way ofexample, the map developer can collect geographic data to generate andenhance the geographic database. There can be different ways used by themap developer to collect data. These ways can include obtaining datafrom other sources, such as municipalities or respective geographicauthorities. In addition, the map developer can employ field personnelto travel by vehicle along roads throughout the geographic region toobserve features and/or record information about them, for example.Also, remote sensing, such as aerial or satellite photography, can beused. In an example embodiment, the geographic database may be generatedand/or updated based on map information/data generated and/or extractedfrom sensor information/data provided by vehicle apparatuses 20 throughthe use of update and/or notification messages comprising, for example,maplets. In various embodiments, the vehicle apparatuses 20 may beonboard vehicles owned and/or operated by and/or on behalf of members ofthe general public or onboard vehicles owned and/or operated as part ofa private fleet.

The geographic database can be a master geographic database stored in aformat that facilitates updating, maintenance, and development. Forexample, the master geographic database or data in the master geographicdatabase can be in an Oracle spatial format or other spatial format,such as for development or production purposes. The Oracle spatialformat or development/production database can be compiled into adelivery format, such as a geographic data files (GDF) format. The datain the production and/or delivery formats can be compiled or furthercompiled to form geographic database products or databases, which can beused in end user navigation devices or systems.

For example, geographic data is compiled (such as into a platformspecification format (PSF) format) to organize and/or configure the datafor performing navigation-related functions and/or services, such asroute calculation, route guidance, map display, speed calculation,distance and travel time functions, and other functions. Thenavigation-related functions can correspond to vehicle navigation orother types of navigation. The compilation to produce the end userdatabases can be performed by a party or entity separate from the mapdeveloper. For example, a customer of the map developer, such as anavigation device developer or other end user device developer, canperform compilation on a received geographic database in a deliveryformat to produce one or more compiled navigation databases. Regardlessof the manner in which the databases are compiled and maintained, anavigation system that embodies a network apparatus 10, vehicleapparatus 20, and/or intermediary apparatus 30 in accordance with anexample embodiment may determine the time to traverse a route thatincludes one or more turns at respective intersections more accurately.

IV. Apparatus, Methods, and Computer Program Products

As described above, FIGS. 3, 5, 6, and 7 illustrate flowcharts of anetwork apparatus 10, methods, and computer program products accordingto an example embodiment of the invention. FIGS. 8 and 9 illustrateflowcharts of a vehicle apparatus 20, methods, and computer programproducts according to an example embodiment of the invention. It will beunderstood that each block of the flowcharts, and combinations of blocksin the flowcharts, may be implemented by various means, such ashardware, firmware, processor, circuitry, and/or other devicesassociated with execution of software including one or more computerprogram instructions. For example, one or more of the proceduresdescribed above may be embodied by computer program instructions. Inthis regard, the computer program instructions which embody theprocedures described above may be stored by the memory device 14, 24, 34of an apparatus employing an embodiment of the present invention andexecuted by the processor 12, 22, 32 of the apparatus. As will beappreciated, any such computer program instructions may be loaded onto acomputer or other programmable apparatus (e.g., hardware) to produce amachine, such that the resulting computer or other programmableapparatus implements the functions specified in the flowchart blocks.These computer program instructions may also be stored in acomputer-readable memory that may direct a computer or otherprogrammable apparatus to function in a particular manner, such that theinstructions stored in the computer-readable memory produce an articleof manufacture the execution of which implements the function specifiedin the flowchart blocks. The computer program instructions may also beloaded onto a computer or other programmable apparatus to cause a seriesof operations to be performed on the computer or other programmableapparatus to produce a computer-implemented process such that theinstructions which execute on the computer or other programmableapparatus provide operations for implementing the functions specified inthe flowchart blocks.

Accordingly, blocks of the flowcharts support combinations of means forperforming the specified functions and combinations of operations forperforming the specified functions for performing the specifiedfunctions. It will also be understood that one or more blocks of theflowcharts, and combinations of blocks in the flowcharts, can beimplemented by special purpose hardware-based computer systems whichperform the specified functions, or combinations of special purposehardware and computer instructions.

In some embodiments, certain ones of the operations above may bemodified or further amplified. Furthermore, in some embodiments,additional optional operations may be included. Modifications,additions, simplifications, or amplifications to the operations abovemay be performed in any order and in any combination.

Many modifications and other embodiments of the inventions set forthherein will come to mind to one skilled in the art to which theseinventions pertain having the benefit of the teachings presented in theforegoing descriptions and the associated drawings. Therefore, it is tobe understood that the inventions are not to be limited to the specificembodiments disclosed and that modifications and other embodiments areintended to be included within the scope of the appended claims.Moreover, although the foregoing descriptions and the associateddrawings describe example embodiments in the context of certain examplecombinations of elements and/or functions, it should be appreciated thatdifferent combinations of elements and/or functions may be provided byalternative embodiments without departing from the scope of the appendedclaims. In this regard, for example, different combinations of elementsand/or functions than those explicitly described above are alsocontemplated as may be set forth in some of the appended claims.Although specific terms are employed herein, they are used in a genericand descriptive sense only and not for purposes of limitation.

That which is claimed:
 1. An apparatus comprising at least oneprocessor, a communication interface configured to communicate via atleast one network, and at least one memory storing computer programcode, the apparatus being onboard a vehicle and in communication with aplurality of sensors onboard the vehicle, the at least one memory andthe computer program code configured to, with the processor, cause theapparatus to at least: receive a maplet request identifying a requestregion; responsive to determining that the vehicle is within the requestregion, process sensor data captured by two or more sensors of theplurality of sensors to generate a multi-sensor data streamcorresponding to a segment of a road network; identify one or moreobservations corresponding to at least one construction marker withinthe multi-sensor data stream; generate a maplet based on the one or moreobservations and the maplet request, wherein generating the mapletcomprises using a predetermined data model and a predetermined dataformat corresponding to a construction marker observation class toencode road data corresponding to at least one of the one or moreobservations corresponding to the at least construction marker; andprovide the maplet such that a network apparatus receives the maplet,wherein the network apparatus is configured to validate or update mapdata of a digital map representing the road network based at least inpart on the maplet.
 2. The apparatus of claim 1, wherein the mapletcomprises a header comprising a construction marker flag.
 3. Theapparatus of claim 1, wherein the predetermined format comprises a fieldconfigured to be populated with coordinates of an anchor point for theat least one construction marker, the anchor point being a point locatedat a center of a top surface of the construction marker.
 4. Theapparatus of claim 3, wherein the predetermined format comprises a fieldconfigured to be populated with a covariance matrix for the anchorpoint.
 5. The apparatus of claim 3, wherein the predetermined formatcomprises a field configured to be populated with a timestampcorresponding to a sensor capture event whose body frame coordinatesystem instance was used to reference the coordinates of the anchorpoint.
 6. The apparatus of claim 1, wherein the predetermined formatcomprises a field configured to be populated with a type of theconstruction marker.
 7. The apparatus of claim 1, wherein thepredetermined format comprises a field configured to be populated with adominant color of the construction marker.
 8. A method comprising:receiving, by a vehicle apparatus, a maplet request identifying arequest region, the vehicle apparatus (a) being onboard a vehicle, (b)comprising (i) a communication interface configured to communicate viaat least one network, (ii) at least one processor, and (iii) at leastone memory, and (c) being in communication with a plurality of sensorsonboard the vehicle; responsive to determining that the vehicle iswithin the request region, processing, by the vehicle apparatus, sensordata captured by two or more sensors of the plurality of sensors togenerate a multi-sensor data stream corresponding to a segment of a roadnetwork; identifying, by the vehicle apparatus, one or more observationscorresponding to at least one construction marker within themulti-sensor data stream; generating, by the vehicle apparatus, a mapletbased on the one or more observations and the maplet request, whereingenerating the maplet comprises using a predetermined data model and apredetermined data format corresponding to a construction markerobservation class to encode road data corresponding to at least one ofthe one or more observations corresponding to the at least constructionmarker; and providing, by the vehicle apparatus, the maplet such that anetwork apparatus receives the maplet, wherein the network apparatus isconfigured to validate or update map data of a digital map representingthe road network based at least in part on the maplet.
 9. The method ofclaim 8, wherein the maplet comprises a header comprising a constructionmarker flag.
 10. The method of claim 8, wherein the predetermined formatcomprises a field configured to be populated with coordinates of ananchor point for the at least one construction marker, the anchor pointbeing a point located at a center of a top surface of the constructionmarker.
 11. The method of claim 10, wherein the predetermined formatcomprises a field configured to be populated with a covariance matrixfor the anchor point.
 12. The method of claim 10, wherein thepredetermined format comprises a field configured to be populated with atimestamp corresponding to a sensor capture event whose body framecoordinate system instance was used to reference the coordinates of theanchor point.
 13. The method of claim 8, wherein the predeterminedformat comprises a field configured to be populated with a type of theconstruction marker.
 14. The method of claim 8, wherein thepredetermined format comprises a field configured to be populated with adominant color of the construction marker.
 15. A computer programproduct comprising at least one non-transitory computer-readable storagemedium having computer-readable program code portions stored therein,the computer-readable program code portions comprising executableportions configured, when executed by a processor of a vehicle apparatusonboard a vehicle, to cause the vehicle apparatus to: receive a mapletrequest identifying a request region; responsive to determining that thevehicle is within the request region, process sensor data captured bytwo or more sensors of the plurality of sensors to generate amulti-sensor data stream corresponding to a segment of a road network;identify one or more observations corresponding to at least oneconstruction marker within the multi-sensor data stream; generate amaplet based on the one or more observations and the maplet request,wherein generating the maplet comprises using a predetermined data modeland a predetermined data format corresponding to a construction markerobservation class to encode road data corresponding to at least one ofthe one or more observations corresponding to the at least constructionmarker; and provide the maplet such that a network apparatus receivesthe maplet, wherein the network apparatus is configured to validate orupdate map data of a digital map representing the road network based atleast in part on the maplet.
 16. The computer program product of claim15, wherein the predetermined format comprises a field configured to bepopulated with coordinates of an anchor point for the at least oneconstruction marker, the anchor point being a point located at a centerof a top surface of the construction marker.
 17. The computer programproduct of claim 16, wherein the predetermined format comprises a fieldconfigured to be populated with a covariance matrix for the anchorpoint.
 18. The computer program product of claim 16, wherein thepredetermined format comprises a field configured to be populated with atimestamp corresponding to a sensor capture event whose body framecoordinate system instance was used to reference the coordinates of theanchor point.
 19. The computer program product of claim 15, wherein thepredetermined format comprises a field configured to be populated with atype of the construction marker.
 20. The computer program product ofclaim 15, wherein the predetermined format comprises a field configuredto be populated with a dominant color of the construction marker.